KR20170091588A - Configurable Robotic Surgical System with Virtual Rail and Flexible Endoscope - Google Patents

Abstract

A system and method for moving or manipulating a robotic arm are provided. The robot arm group is configured to form a virtual rail or line between the end effectors of the robot arm. The robot arm responds to external forces such as the user. When the user moves one robot arm, the other robot arm automatically moves to maintain the virtual rail alignment. The virtual rail of the robot arm end effector can be transformed in one or more of the three dimensions. The virtual rail can rotate around a point on the virtual rail line. The robot arm senses the contact characteristic of the user and can move accordingly. Pushing, pushing, pushing, pushing, pulling, and rotating other parts of the robot arm cause different motion responses in different parts of the robot arm.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a configurable robot surgical system having a virtual rail and a flexible endoscope,

This application claims the benefit of U.S. Provisional Patent Application No. 62 / 057,936, filed September 30, 2014 (Attorney Docket No. 41633-716.101), which is incorporated herein by reference, and U.S. Provisional Patent Application, filed December 24, 62 / 096,825 (Attorney Docket No. 41663-717.101), and U.S. Provisional Patent Application No. 62 / 211,135 (Attorney Docket No. 41633-716.101), filed August 28, 2015 .

The claims of the present application are incorporated herein by reference in their entireties, and are incorporated herein by reference in their entirety, including patent applications No. 62 / 096,825 (Attorney Docket No. 41663-717.101), Provisional Patent Application No. 62 / 057,936 (Attorney Docket No. 41663-716.101 ), Patent Application No. 61 / 940,180 (Attorney Docket No. 41633-714.101), Patent Application No. 14 / 523,760 (Attorney Docket No. 41663-712.201), Patent Application No. 14 / 542,373 (Attorney Docket No. 41663-712.301), Patent Application No. 14 / 542,387 (Attorney Docket No. 41663-712.302), Patent Application No. 14 / 542,403 (Attorney Docket No. 41663-712.303) and Patent Application No. 14 / 542,429 Attorney Docket No. 41663-712.304).

The field of the present application relates to medical devices. More particularly, the field of the invention relates to systems and tools for robot assisted endoscopy or other surgery, as well as to machine tools and techniques for catheters and endoscopes for robot assisted surgery.

Endoscopy is a widely used minimally invasive technique for delivering and imaging therapeutic agents at anatomical locations within the body. Generally, a flexible endoscope is used to deliver a tool to a surgical site within the body where surgery is performed (e.g., a small incision or a natural hole in the body (nasal cavity, anus, vagina, urinary, throat, etc.) May have imaging, illumination and steering functions at the distal end of the flexible shaft to enable the detection of non-linear lumens or paths.

Endolumenal surgical applications include positioning and driving the endoscope to the desired anatomical location. To aid in the detection of toughness, endoscopes often have means of articulating small end bending sections. Today's endoscopic devices are portable devices with many levers, dials and buttons for a variety of functions in general, but they offer limited performance in segmented terms. For control, the doctor manipulates the lever or dial while twisting the shaft of the scope to control the position and advancement of the endoscope. These techniques require the physician to flex his or her hands and arms when delivering the scope to the desired location using the device. The arm movements and postures are uncomfortable to the doctor. Maintaining such a position can be physically difficult. Thus, the manual actuation of the bending section is often limited by low driving forces and poor ergonomic construction.

Today's endoscopes require support personnel to deliver, operate, and remove surgical, diagnostic or therapeutic devices from the scope while maintaining the position desired by the physician. Today's endoscopes also utilize pull wires that cause problems with curve alignment and muscle strength enhancement. Some surgeries require fluoroscopic or segmental CT scans to help you navigate to the desired location, especially for small lumen searches.

Thus, it would be desirable to have systems and tools for intrinsically robotic surgery that provide improved ergonomic structure, usability, and exploration. The application of this technique can also be applied to other operations such as vascular surgery. It would also be desirable to have an improved control with controlled bending such that the center axis remains constant during catheter and endoscope bending operations. It would also be advantageous to have an improved method for manufacturing endoscopes and catheters that maintain the central axis despite these catheters and endoscopes, i.e., anatomical structures and bending, elongation, and connection conditions that arise during use in space.

One embodiment of the present invention provides a sheath having a lumen with a controllable and segmentable distal end mounted to a first robotic arm of three degrees of freedom or more, preferably six degrees of freedom or more. The present embodiment also includes a flexible endoscope having a controllable and segmentable distal end, a light source and video capture unit located at the distal end thereof, and at least one actuating channel extending therethrough. The flexible endoscope is slidably disposed in the lumen of the sheath, and is mounted on the second robot arm having three degrees of freedom or more, preferably six degrees of freedom or more. The first and second modules are further operatively coupled to the proximal end of the sheath and the flexible endoscope, respectively. The module is mounted on the first and second robot arms to mount the sheath and the flexible endoscope on the first and second robot arms respectively. The module provides a mechanism for manipulating and manipulating the sheath and flexible endoscope and receiving power and other utilities from the robotic arm. The robotic arm is arranged such that the first module is further away from the second module and the proximal end of the sheath is located further away from the proximal end of the flexible endoscope. When the first and second robotic arms move relative to each other and relative to the patient, movement of the sheath relative to the flexible endoscope and movement of the patient relative to each other occurs.

In one embodiment, the robot is positioned between the first and second robotic arms such that the sheath and flexible endoscope are substantially straight (e.g., at an angle of approximately 180 degrees) and coaxially aligned with respect to each other , And forms a "virtual rail" between the robot arms. It should be noted that the virtual rail can take angles ranging from 90 degrees to 180 degrees. The movement of the robot arm relative to each other provides axial movement of the sheath and flexible endoscope relative to each other and the patient while maintaining the virtual rail between the robot arms.

The first and second robotic arms may be on separate carts or on the same cart. The cart can move between operating rooms or move within the operating room to better accommodate the equipment and patient beads. Alternatively, the robot arm may be secured to the floor or bed.

The present invention alternatively provides a number of modules for different operations wherein the robotic arm retrieves the desired module from a storage location, for example a module exchange table or stand located in the operating room. Each module or pair of modules is designed for a particular type of operation.

Modules with a combination of sheath and flexible endoscopes can probe narrow lumens in the body (e.g., bronchi and other waste, blood vessels, especially urinary tract). The additional module may include a laparoscope (single or dual port), a microsurgical module (which may also have a sheath and flexible endoscope placement, but may be sized for an eye or other microsurgery site). Alternatively, the microsurgical module may be configured to support a rigid instrument of a size appropriate to the surgical scale.

In embodiments according to the present invention, the sheath and flexible endoscope comprise a shaft having a proximal end, a distal end and a controllable bend, wherein preferably the controllable bend is a distal bend. One or more tendon-conduits, preferably four tendon-conduits, extend through the wall of the shaft wall from the proximal end of the controllable bending section distal to the distal end. Preferably, the shaft has a generally circular or elliptical cross-section. One or more tendons, preferably four tendons, extend through each of the one or more tendon-conduits. The tendon-conduit extends through the shaft wall substantially parallel to the central axis of the shaft from the proximal end to the spiral portion of the shaft, and the tendon conduit extends in a helical or spiral pattern with respect to the central axis to the proximal end of the controllable curvature, Extends through the shaft wall approximately parallel to the central axis to the distal end of the controllable bend. Preferably, the controllable bend is at the distal end of the shaft. The at least one tendon is secured to the distal end of the controllable bend, tensioning the at least one tendon such that a controllable bend is connected.

A system, apparatus and method for robot assisted endoscopic surgery are disclosed. An exemplary robotic surgery system may include first and second robotic arms and a controller for actuating the robotic arms. The first and second robotic arms may each include first and second device manipulators that can be coupled to the endoscope tool (s). The first and second device manipulators may be configured and arranged to form a virtual rail for actuating the endoscope tool. The first robotic arm and / or the second robotic arm may be movable in a manner that preserves the virtual rail alignment to maintain proper / proper or desired alignment of the endoscopic tool (s). The controller may be configured to move the first and second device manipulators in a manner that maintains a virtual rail alignment. One or more of the first or second robotic arms may be responsive to a force applied by the user and a force applied to one of the robotic arms may cooperate with the other arms such that the virtual rail alignment is maintained. The virtual rail formed by the first and second robot arm or device manipulators may be translationally moved in one or more of the X axis, the Y axis, or the Z axis (i.e., horizontal and / or vertical). The virtual rail may also be located along the imaginary line formed by the first and second robotic arm or device manipulators such that the center of one of the device manipulators, a point between the first and second device manipulators, or a point formed by the first and second device manipulators It can be rotated about any point such as a point beyond the line segment. In some embodiments, the system may further comprise a third robotic arm that can be actuated by the controller and configured to form a virtual rail with the first and second robotic arms. The system may further comprise an additional robot arm operable by the controller and configured to form a virtual rail.

A system, apparatus and method for user manipulation of a robotic surgical system is also disclosed. The robotic arm may respond to various input forces applied by the user. The user may exert a force on the robotic arm, such as a tap, push, pull, double tap or multiple tap, hold or shake in some examples. The robot force can determine the user's intention based on the detected force characteristics and detect the applied force. Such characteristics may include the position, size, orientation and timing of the exerted force. Based on the determined user intention, the robot arm can move in a predetermined pattern.

Aspects of the present disclosure provide a method of moving a robotic arm system. A robot arm system can be provided. The system may include a first robotic arm and a second robotic arm. The first and second robotic arms may have a predetermined distance and direction relative to each other. The first robot arm can detect the force acting thereon. The first robot arm can automatically move in response to the detected force. The first robotic arm can be moved to a first motion vector. The second robot arm may automatically move in response to the detected force such that a predetermined distance and direction between the first and second robot arms is maintained. The second robot arm may move to the second motion vector.

The predetermined distance and direction between the first and second robotic arms may include a linear alignment between the first and second robotic arms, such as a linear alignment between the border ends of the first and second robotic arms. When automatically moving the first robot arm, the interface end of the first robot arm can be pivoted about a point on the line formed by the first and second robot arms. When automatically moving the second robot arm, the interface end of the second robot arm can be pivoted about a point on the line formed by the first and second robot arms. The point on the line may be between the interface ends of the first and second robotic arms or over the interface ends of the first and second robotic arms.

When the second robot arm is automatically moved in response to a detected force such that a predetermined distance and direction between the first and second robot arms is maintained, the first and second robot arms are moved in the X-axis, the Y- You can translate all along the Z axis. In some embodiments, the first motion vector and the second motion vector are the same. In another embodiment, the first motion vector and the second motion vector are different.

The system of the robot arm may further include a third robot arm. The first, second and third robot arms may be at a predetermined distance and direction with respect to each other. The third robot arm may automatically move in response to the detected force such that a predetermined distance and direction between the first, second and third robot arms is maintained. The third robot arm can move with the third motion vector. The predetermined distance and direction between the first, second and third robotic arms is a linear relationship between the first, second and third robotic arms, such as linear alignment between the interface ends of the first, ≪ / RTI >

When automatically moving the first robot arm, the interface end of the first robot arm may be pivoted about a point on the line formed by the first, second and third robot arms. When automatically moving the second robot arm, the interface end of the second robot arm may be pivoted about a point on the line formed by the first, second and third robot arms. When automatically moving the third robot arm, the interface end of the third robot arm may be pivoted about a point on the line formed by the first, second and third robot arms. The point on the line may exceed two or more of the interface ends of the first, second or third robotic arms or more than one of the interface ends of the first, second or third robotic arms. The first, second, and third robotic arms automatically move the third robot arm in response to the detected force so that a predetermined distance and direction between the first, second, and third robot arms are maintained, , Y-axis, or Z-axis. In some embodiments, at least two of the first motion vector, the second motion vector, and the third motion vector are the same. In another embodiment, at least two of the first motion vector, the second motion vector, and the third motion vector are different.

In some embodiments, the first robot arm can detect a force applied to the first robot arm by detecting a torque acting on the joint of the first robot arm. The force applied to the first robot arm can be detected during the operation of the patient.

In some embodiments, the motion mode of the robotic arm system may be activated in response to a detected force. The moving mode of the robotic arm system may include one or more of an admittance mode or an impedance mode. The movement mode of the system may be invalidated after the first and second robot arms have moved.

Embodiments of the present disclosure provide a robotic arm system. An exemplary system may include a first robotic arm, a second robotic arm, and a controller. The first robot arm may include a force sensor configured to detect a force applied to the first robot arm. The first and second robotic arms may have a predetermined distance and direction relative to each other. The controller may be connected to the first and second robot arms. The controller is configured to: (i) automatically move the first robot arm to a first motion vector in response to the detected force; and (ii) automatically move the second robot arm to a second motion vector in response to the detected force, And a predetermined distance and direction between the first robot arm and the second robot arm are maintained.

The predetermined distance and direction between the first and second robotic arms may include a linear alignment between the first and second robotic arms, such as a linear alignment between the interface ends of the first and second robotic arms. The controller may be configured to pivot the interface ends of the first and second robotic arms about a point on the line formed by the first and second robotic arms. The point on the line may be between the interface ends of the first and second robotic arms or over the interface ends of the first and second robotic arms.

The controller may be configured to move the first and second robotic arms in unison along one or more of the X, Y, or Z axes. In some embodiments, the first motion vector and the second motion vector are the same. In another embodiment, the first motion vector and the second motion vector are different.

The system may further include a third robot arm. The first, second and third robot arms may have a predetermined distance and direction with respect to each other. The controller may be configured to automatically move the third robot arm to a third motion vector in response to the detected force such that a predetermined distance and direction between the first, second and third robot arms is maintained. The predetermined distance and direction between the first, second and third robotic arms is a linear relationship between the first, second and third robotic arms, such as linear alignment between the interface ends of the first, ≪ / RTI >

The controller may be configured to pivot the interface ends of the first, second and third robot arms about a point on the line formed by the first, second and third robot arms. The point on the line may be between two or more of the interface ends of the first, second or third robotic arm, or may be more than two of the interface ends of the first, second or third robotic arm. The controller may be configured to translate the first, second, and third robotic arms in unison along one or more of the X, Y, or Z axes. In some embodiments, at least two of the first motion vector, the second motion vector, and the third motion vector are the same. In another embodiment, at least two of the first motion vector, the second motion vector, and the third motion vector are different.

The first robotic arm may include one or more joints and one or more links. The force sensor of the first robotic arm may include a torque sensor coupled to the one or more joints. The first robotic arm may include one or more joints and one or more links. The force sensor of the first robotic arm may include a tactile sensor connected to one or more links.

The controller may be configured to enable a movement mode of the robotic arm system in response to the detected force. The moving mode of the robotic arm system may include one or more of an admittance mode or an impedance mode. The controller may be configured to disable the movement mode of the system after the first and second robotic arms have moved.

Aspects of the present disclosure provide a method of moving a robotic arm.

A force acting on the robot arm can be detected. The applied force may include a force vector and a timing characteristic. The user intention can be determined based on the force vector and the timing characteristic of the detected force. The robot arm can automatically move according to the determined user intention. The step of detecting the force applied to the robot arm may include detecting the force applied to the joint, link or interface end of the robot arm, or detecting the force with the torque sensor coupled to the joint of the robot. Step or detecting a force with a tactile sensor connected to the link of the robot arm. The step of determining user intent may comprise determining whether the applied force is at least one of a hold, a push, a pull, a tap, a plurality of taps, a rotation, or a shake of at least a portion of a robotic arm.

The moving mode of the robot arm can be operated before automatically moving the robot arm. The moving mode of the robot arm can be deactivated after automatically moving the robot arm. Commands may be received from a computing device communicating with, for example, a foot pedal in communication with a robotic arm, a joystick in communication with the robotic arm, a voice command, detected light, or a robotic arm, to enable the move mode. The movement mode may include one or more of an impedance mode or an admittance mode.

To determine the user intent, the user's gesture type may be detected. The step of determining the user's intent may comprise determining that the force applied to the robotic arm includes one or more tabs on the joint of the robotic arm, Or coupled to the interface end of the robotic arm in response to the one or more taps. The step of determining the user's intent determines whether the force applied to the robot arm is to maintain the position of the joint of the robot arm, rotate the interface end of the robot arm, and include a pull at the interface end of the robot arm Step & lt ; / RTI & gt ; Determining the user intent may comprise determining that the force applied to the robotic arm includes pushing or pulling the interface end of the robotic arm, wherein the interface end of the robotic arm is responsive to the pushing or pulling of the robotic arm And can be moved automatically. The interface end and the entire robot arm can automatically move along the movement of the interface end.

In some embodiments, the initial position of the robotic arm may be stored prior to moving the robotic arm. The robot arm can be moved back to the initial position after moving the robot arm in response to the determined user intention.

Aspects of the present disclosure can provide a robotic arm system. An exemplary robotic arm system may include a robot arm and a controller. The robot arm may include a force sensor configured to detect a force applied to the robot arm. The applied force may include a force vector and a timing characteristic. The controller can be coupled to the robot arm. The controller may be configured to (i) determine the user's intention based on the force vector and timing characteristics of the detected force, and (ii) automatically move the robotic arm in response to the determined user intent.

The force sensor may be configured to detect whether a force is applied to the connection, link or interface end of the robotic arm. The force sensor may include one or more of a torque sensor coupled to the joint of the robot arm or a tactile sensor coupled to the link of the robot arm.

The controller may be configured to determine user intent by determining that the applied force is one or more of hold, push, pull, tap, multiple taps, rotation, or a shake of a portion or all of the robotic arm. The controller may be configured to enable a movement mode of the robot arm before automatically moving the robot arm. The controller may be configured such that the moving mode of the robot arm is deactivated after automatically moving the robot arm.

The system may further comprise an external control unit in communication with the controller to enable the movement mode. The external control unit may include one or more of a foot pedal, a joystick, a microphone, a photodetector, or a computing device. The movement mode may include one or more of an impedance mode or an admittance mode.

The robot arm may include a joint, a link, and an interface end.

The controller can be configured to determine the user's intent in many ways, for example via gesture sensing. The controller determines the intent of the user by determining that the force applied to the robot arm includes one or more tabs on the joint and automatically moves the robot arm by automatically moving the joint of the robot arm, The interface end, or one or more other joints. The controller may be configured to determine the user intention by determining that the force applied to the robot arm includes pulling the interface end of the robot arm while the position of the junction of the robot arm is maintained, Rotate the interface end. The controller determines the user intention by determining that the force applied to the robot arm includes pushing or pulling the interface end of the robot arm and automatically moves the interface end of the robot arm in response to the push or pull on the interface end, And may be configured to automatically move the entire robot arm to follow the movement of the interface end.

The controller can be configured to memorize the initial position of the robot arm before moving the robot arm. The controller may be configured to move the robot arm to an initial position after moving the robot arm in response to the determined user intention.

1 shows a robot endoscope system according to a number of embodiments.
Figure 2a illustrates a robotic surgery system in accordance with many embodiments.
Figure 2B is a plan view of the system of Figure 2A, in which an anesthesia cart is provided towards the head of a patient, in accordance with multiple embodiments.
Figure 2c shows the system of Figure 2a.
Figures 2d and 2e illustrate alternative arrangements of the arms 202 and 204 of the system of Figure 2a, showing the versatility of the robotic surgery system of Figure 2a, in accordance with multiple embodiments.
Figure 3a is a plan view of a system having multiple virtual rails, in accordance with multiple embodiments.
Figure 3B illustrates the use of the robotic surgery system of Figure 3A with additional robotic arms, associated tool bases, and tools in accordance with multiple embodiments.
Figures 4A and 4B show the modularization of embodiments of the present invention.
5A illustrates an embodiment of a mechanism exchanger interface coupled to a mechanical arm in a robotic system according to an embodiment of the present invention.
FIG. 5B shows another view of the male mechanism exchanger interface 502 of FIG. 5A.
Figure 5C illustrates a reciprocating female mechanism exchanger interface coupled to the instrument device manipulator for connection to the male mechanism exchanger interface 502 from Figures 3A and 3B.
Figure 5d shows another view of the female mechanism exchanger interface 508 of Figure 5c.
Figures 6, 7, 8A and 8B illustrate alternative embodiments of a module for a robotic surgical system of the present invention.
Figure 9 illustrates a robotic catheter that may be used with the robotic system 100 of Figure 1 in accordance with one embodiment of the present invention.
10A, 10B and 10C show the structure of a sheath of a flexible endoscope apparatus according to an embodiment of the present invention.
11A and 11B show the structure of a flexible endoscope apparatus according to an embodiment of the present invention.
12A, 12B, 12D, 12D, 12E, 12F, 12G, 12H, 12I, 12J, and 12K illustrate an embodiment of the present invention, And the curve alignment phenomenon shown in Fig.
Figure 13 shows the structure of a flexible endoscope device having axially rigid tubes in the lumen, according to an embodiment of the invention.
14 shows a structure of a spiral pattern in the lumen of the flexible endoscope apparatus according to an embodiment of the present invention.
15A illustrates a robotic catheter from a robotic catheter system in accordance with an embodiment of the present invention.
Figure 15B shows another view of the robotic catheter 1500 of Figure 15A.
Figure 16 shows a distal end of a robotic catheter according to an embodiment of the present invention.
17A and 17B show the independent drive mechanism of the present invention.
Fig. 18 shows another view of the independent drive mechanism of Figs. 17A and 17B showing the structure of the sheath of the flexible endoscope apparatus having the tension detecting device according to the embodiment of the present invention.
19A is a cross-sectional view at different angles of the independent drive mechanisms of Figs. 17A, 17B and 18. Fig.
Figure 19B is a cross-sectional view of the above described independent drive mechanism in combination with a robotic catheter, in accordance with an embodiment of the present invention.
Figure 20 shows another view of the above described independent drive mechanism with a pull wire from a robotic catheter in accordance with an embodiment of the present invention.
21 is a conceptual diagram showing a manner in which a horizontal force is measured by a strain gage in a vertical direction to a force according to an embodiment of the present invention.
Figure 22 is a flow diagram of a method of manufacturing a catheter device having a spiral lumen in accordance with one embodiment of the present invention.
23 shows a specialized nose cone for manufacturing a flexible endoscope device according to an embodiment of the present invention.
Figure 24 illustrates a system for manufacturing a flexible endoscope device, in accordance with an embodiment of the present invention.
Figure 25 shows a cross-sectional view of a flexible endoscope device in which traction lumens are symmetrically disposed about the circumference of the device in accordance with one embodiment of the present invention.
Figure 26A shows a cross-sectional view of a flexible endoscope device in which traction lumens are not arranged symmetrically about the circumference of the device in accordance with one embodiment of the present invention.
26B is an isometric view of the flexible endoscope apparatus of Fig. 26A according to an embodiment of the present invention.
27 is a flowchart of a method of manufacturing the flexible endoscope apparatus of Figs. 26A and 26B according to an embodiment of the present invention.
Figures 28A and 28B show the relationship between centerline coordinates, diameter measurements and anatomical space.
29 illustrates a computer generated three-dimensional model representing an anatomical space, in accordance with an embodiment of the present invention.
Figure 30 illustrates a robotic catheter system using an electromagnetic tracker in combination with an electromagnetic field generator, in accordance with an embodiment of the present invention.
Figure 31 is a flow diagram of steps for registration, in accordance with an embodiment of the present invention.
Figure 32A illustrates the distal end of a robotic catheter within an anatomical lumen, in accordance with an embodiment of the present invention.
Figure 32B illustrates the robotic catheter of Figure 32A used in a surgical site within an anatomical lumen according to an embodiment of the present invention.
Figure 32c illustrates the robotic catheter of Figure 32b used in a surgical site within an anatomical lumen according to one embodiment of the present invention.
Figure 33A illustrates a robotic catheter coupled to a distal bend in an anatomical lumen, in accordance with an embodiment of the present invention.
33B illustrates a robotic catheter of FIG. 33A with a forceps tool for use in a surgical site within an anatomical lumen, in accordance with an embodiment of the present invention.
33C illustrates a robotic catheter of FIG. 33A with a laser device used in a surgical site within an anatomical lumen, in accordance with an embodiment of the present invention.
Figure 34 illustrates a command console for a robotic surgery system in accordance with an embodiment of the present invention.
35A and 35B show different views of a robotic catheter system in accordance with an embodiment of the present invention.
Figure 36 illustrates an isometric view of a robotic catheter system with a greatly increased angle of virtual rail, in accordance with an embodiment of the present invention.
37A, 37B, 37C and 37D are a series of plan views of a catheter buckling and vascular procedure for reducing the wasted length, in accordance with an embodiment of the present invention.
38A and 38B illustrate vascular surgery in which a robotic catheter can be inserted into a carotid artery according to an embodiment of the present invention.
Figure 39 illustrates vessel surgery in which a robotic catheter may be inserted into the brachial artery in accordance with an embodiment of the present invention.
40A and 40B illustrate vascular surgery in which a robotic catheter can be inserted into a radial artery according to one embodiment of the present invention.
41 is a flow chart illustrating a method for aligning an arm of a robotic surgery system, in accordance with multiple embodiments.
42A is a schematic view of an aligned arm of a robotic surgery system translating up to three dimensions in accordance with multiple embodiments.
Figure 42B shows a schematic view of an aligned arm of a robotic surgery system that rotates about one of the device manipulators of the robotic arm in accordance with many embodiments.
Figure 42c is a schematic view of an aligned arm of a robotic surgery system that rotates about a point between two device manipulators of a robotic arm, according to many embodiments.
42D is a schematic diagram of the aligned arms of a robotic surgery system that rotates about a point beyond two of the device actuators of the robotic arm, in accordance with multiple embodiments.
43 is a flow chart illustrating a method for operating the robotic arm (s) of a robotic surgery system, in accordance with multiple embodiments.

Although certain preferred embodiments and examples are disclosed below, the subject matter of the present invention extends beyond the specifically disclosed embodiments to other alternative embodiments and / or uses, and modifications and equivalents thereof. Accordingly, the scope of the claims appended hereto is not limited by any of the specific embodiments described below. For example, in any method or process disclosed herein, the operation of the method or process may be performed in any suitable sequence and is not necessarily limited to a specific disclosed sequence. The various operations can be described in turn as a number of discrete operations in a manner that can be helpful in understanding certain embodiments. However, the order of description should not be construed as implying that such an operation is order dependent. In addition, the structures, systems and / or apparatus described herein may be implemented as integrated components or as discrete components.

To compare various embodiments, certain aspects and advantages of these embodiments are described. Not all such aspects or advantages are necessarily achieved by any particular embodiment. Thus, for example, various embodiments may be practiced in a manner that accomplishes or optimizes a group of advantages or advantages as taught herein without necessarily achieving other aspects or advantages as taught or suggested herein.

survey.

The luminal surgical robotic system provides the surgeon with the ability to sit in an ergonomic position and control the robotic endoscope tool to the desired anatomical location within the patient without the need for undue arm movement and position.

The robotic endoscope tool has the ability to easily manipulate the lumens in the body by providing more than two points along its length to a plurality of degrees of freedom. The tool's control points provide much more intuitive device control when the surgeon searches for curved paths inside the body. The tip of this tool can be manipulated from 0 to 90 degrees for 360 degrees of roll angle.

Surgical robotic systems incorporate surgical sensor-based and endoscopic-based navigation techniques to help physicians guide the desired anatomical location within the patient. The search information may be transmitted to the two-dimensional display means or the three-dimensional display means.

System components.

1 is a robot endoscope system according to an embodiment of the present invention. As shown in FIG. 1, the robotic system 100 may include a systematic cart 101 having one or more mechanical arms, such as arms 102. The system cart 101 may communicate with a remotely located command console (not shown). In practice, the system cart 101 may be configured to provide access to the patient, and the physician may control the system 100 from the comfort of the command console. In some embodiments, the system 100 may be coupled to a surgical table or bed for stability and patient access.

Within system 100, arm 102 may be fixedly coupled to system cart 101, which in various embodiments includes a variety of support systems including control electronics, power sources, and optical sources. The arm 102 may be formed of a plurality of links 110 and a joint 111 so as to be accessible to the surgical area of the patient. The system cart 101 may include a power source 112, a pneumatic device 113, and a control and sensor electronics 114, including components such as a central processing unit, a data bus, control circuitry and memory , Power can be transferred from the system cart 101 to the arm 102 using a variety of means known to those skilled in the art, such as electrical wiring, gearheads, air chambers. The electronic device 114 in the system cart 101 may also process and transmit the control signals transmitted from the command console.

The system cart may be movable as shown by wheel 115. In some embodiments, the system cart can be moved to a desired location near the patient. The system cart 101 can be placed at various locations in the operating room to accommodate space requirements and to facilitate the proper placement and movement of modules and mechanisms for the patient. With this function, the cancer can be placed in a position that does not interfere with the patient, the doctor, the anesthesiologist, or the secondary surgical equipment required for the selected operation. During surgery, the arm with the instrument is jointly operated through user control through a separate control device including a haptic device, a joystick or a command console with a custom pendant.

Mechanical arm.

The proximal end of the arm 102 may be fixedly attached to or coupled to the cart 101. The mechanical arm 102 includes a plurality of linkages 110 connected by one or more joints per arm, such as a joint 111. The mechanical arm 102 joint 111 may include one or more actuators to effect movement in one or more degrees of freedom. It is preferable that the arm 102 has a degree of freedom of at least three degrees of freedom as a whole. Through a combination of wires and circuitry, each arm can also deliver power and control signals from the system cart 101 to an instrument located at the distal end.

In some embodiments, the cancer can be fixedly coupled to the surgical table with the patient. In some embodiments, the cancer is coupled to the base of the operating table and can be reached around to access the patient.

In some embodiments, the mechanical arm can not be robustly driven. In these embodiments, the mechanical arm consists of a joint and a joint that maintains the position of the arm in position using a combination of the position of the brakes and the counter-balance. In some embodiments, the counter-balance may comprise a gas spring or a coil spring. Brakes such as fail safe brakes may be mechanical or electromechanical. In some embodiments, the arm may be a gravity assisted passive support arm.

Preferably, each arm may be coupled to an Instrument Device Manipulator (IDM), such as numeral 117, via a Mechanism Changer Interface (MCI), such as 116. In a preferred embodiment, the MCI 116 may transfer pneumatic voltage, power, electrical signals, and optical signals from the arm to the IDM 117. In some embodiments, the MCI 116 may be as simple as a fixed screw or base plate connection.

The IDM 117 may have various means for operating a surgical device, including direct drive, harmonic drive, gear drive, belt and pulley, or magnetic drive. Those skilled in the art will appreciate that a variety of methods can be used as control actuators on instrumentation.

In some embodiments, the IDM may be removable. Within the robotic system, the MCI, such as 116, may be interchangeable with various surgical-specific IDMs, such as 117. In this embodiment, the interchangeability of the IDM allows the robot system 100 to perform different surgeries.

A preferred embodiment can use a robotic arm with joint-level torque sensing at the distal end, such as the LBR5 from Kuka AG. These embodiments have a robotic arm with seven joints with extra joints provided to avoid potential cancer collision with the patient, other robotic arms, surgical tables, medical institutions or equipment around the surgical field, maintaining the wrist in the same posture Do not interfere with ongoing surgery. Those skilled in the art will appreciate that a robotic arm having three degrees of freedom, more preferably six degrees of freedom, will fall within the inventive concept described herein, and that a plurality of arms may have additional modules, , Common or individually mounted on a plurality of carts or surgical beds or tables.

Virtual rail configuration.

The arms 102 of the system 100 may be arranged in various postures for use in various surgeries. For example, in combination with another robotic system having one or more robotic arms, the arm 102 of the system 100 may be configured to be a distal mounted IDM (not shown) to form a "virtual rail" As shown in FIG. For other surgeries, the cancer can be arranged differently. Thus, the use of the arm in system 100 provides flexibility in which the design is not found in a robotic system that is directly related to a particular medical operation. The arms of the system 100 provide potentially much larger strokes and loads. In other embodiments in which a plurality of arms are coupled to the surgical bed / table platform, a plurality of virtual rail devices may be configured for a variety of different operations.

FIG. 2A illustrates a robot surgical system 200 in accordance with one embodiment of the present invention. The system 200 includes two system carts that collectively include a first arm 202 and a second arm 204, each having an endoscope tool base 206, 208. The tool base 206 has an operably connected controllable endoscope sheath 210. The tool base 208 has a flexible endoscope reader 212 operatively connected thereto. In some embodiments, the tool base may be coupled to the arms 202, 204 via the IDM and / or MCI as described above.

The arms 202 and 204 align the tool bases 206 and 208 so that the proximal end 216 of the sheath 210 is the distal end of the proximal end 222 of the leader 212, The rail including the sheath 210 and the leader 212 at an angle of view produces a "virtual rail" that is approximately a straight line or 180 degrees. As will be described later, the virtual rail may have an angle of 90 to 180 degrees. In one embodiment, the sheath 210, in which the leader 212 is disposed in a sliding manner, is inserted, for example, in a robotic manner through the mouth of the patient 211, and ultimately through an organ tube (not shown) in the patient's bronchial system And maintains the virtual rail constantly during insertion and retrieval. The arm may be configured to move the sheath 210 and the endoscope 212 axially (not shown) from the patient 211 to the patient 211 under control of a physician (not shown) . In another embodiment, the sheath 210 having a slidingly disposed leader 212 can be inserted through the urethra of the patient and ultimately into the patient's urinary tract.

The search may be accomplished, for example, by entering the sheath 210 with the reader 212 into the patient 211, after which the leader 212 may be advanced beyond the distal end 213 of the sheath, 210 may be used by the physician to use the guide wire through the actuation channel of the reader 212 until the desired target position is reached. The physician may use any number of visual guide forms or combinations thereof, such as, for example, fluoroscopy, video, CT, etc., to aid in the navigation and to perform medical surgeries. Also, in some embodiments, an imaging means, such as a distal camera and a lens, may be mounted at the distal end of the reader 212. The distal end 220 of the leader 212 is then searched for the surgical site and the tool is deployed through longitudinally aligned operating passages in the reader 212 to perform the desired surgery. The virtual rail can be maintained during the navigation procedure and any subsequent operation. As will be appreciated by those skilled in the art, any number of alternative surgeries that do not require a tool or need a tool can be performed using a flexible endoscope that slides through the sheath.

2B is a plan view of the system 200 in which the anesthesia cart 201 is provided toward the head of the patient. A control console 203 having a user interface is also provided for controlling the sheath 210, the endoscope reader 212 and the associated arms 202 and 204 and the tool bases 206 and 208 (see FIG. 2A).

FIG. 2C is a perspective view of the system 200 of FIG. 2A. The tool modules 206 and 208 with associated sheath 210 and leader 212 are attached to arms 202 and 204 and are arranged 180 degrees on the virtual rail. The arm is displayed in a single cart, which leads to improved miniaturization and mobility. The tool bases 206 and 208 have a pulley system or other operating system for tensioning the sheath 210 and the tails of the leader 212 to steer the respective ends. The tool bases 206 and 208 may provide other desirable utilities for sheath and endoscopes such as pneumatic, electrical, data communication (e.g., for vision), mechanical operation (e.g., motor driven axes) have. These utilities can be provided via a toolbase, a separate source, or a combination of the two.

Figures 2d and 2e show other arrangements of arms 202 and 204 showing the versatility of a robotic surgical system according to an embodiment of the present invention. (Including sheath 210 and leader 212) to enter the mouth of patient 211 at 75 degrees from horizontal while maintaining a 180 degree virtual rail, as shown in Figure 2D. As shown in FIG. This can be done during surgery if space requirements of the room need to be accommodated. Angles of 75 degrees are chosen for illustrative purposes rather than limiting.

2E illustrates an alternative arrangement of arms 202 and 204 in which tool bases 206 and 208 are aligned to produce a virtual rail at a 90 degree angle, according to one embodiment of the present invention. In this embodiment, the instrument (including the sheath 210 and the reader 212) enters the mouth of the patient 213 at 75 degrees from horizontal. The tool bases 206 and 208 are aligned to bend the tool base 206 by 90 degrees before entering the mouth of the patient 213. A rigid or semi-rigid patient interface, such as a tube, may be used to ensure smooth extension and contraction of the leader 212 within the sheath 210, to facilitate bending of the leader 212. In some embodiments, additional mechanical or robotic arms may be used to maintain the patient interface in a fixed position relative to the patient.

The extension and retraction of the leader 212 within the sheath 210 can be controlled by moving the tool base 208 closer or further along the linear path tracked by the leader 212 from the tool base 206. [ The elongation and contraction of the sheath 210 causes the tool base 208 to also move in a linear path parallel to the sheath 210 to avoid unintentional extension or retraction of the leader 212 while extending or retracting the tool base 210. [ As shown in FIG.

The virtual rail is useful for driving both rigid and flexible mechanisms, especially when telescoping is required. The use of virtual rails is not limited to a single rail and may consist of multiple virtual rails in which the arms work together to maintain individual virtual rails during one or more surgical operations.

3A is a top view of a system having multiple virtual rails in accordance with one embodiment of the present invention. 3A, the robot arms 302, 304, and 306 support the tool bases 308, 310, and 312, respectively. The tool bases 308 and 310 may be operatively coupled to the flexible tool 314 and the tool 316. The tool 314 and the tool 316 may be a remote robot-controlled flexible endoscope instrument. The tool base 312 may be operably coupled to the dual lumen sheath 318, and each lumen receives the tools 314, 316. The arms 302 and 304 can each hold a virtual rail with the robot arm 306 and the movement of both arms can move the virtual rail and moving tools 314 and 316 and the sheath 318 to each other and to the patient .

Figure 3b illustrates the use of the robotic surgery system of Figure 3a. Is shown in Figure 3A with a further robot arm 320 and associated tool base 322 and tool 324. In this embodiment, the sheath 325 may have three lumens. Optionally, sheath 325 may include one or more sheaths to provide access to tools 314, 316, As will be appreciated, the ability to increase or decrease the number of cancers with related modules and apparatuses allows for a large number of surgical and operative configurations to reuse costly weapons and use relatively inexpensive modules to reduce costs And excellent flexibility can be obtained.

To create the virtual rail, a plurality of arms and / or platforms may be used. Each platform / arm must be registered with others that can be achieved by multiple forms, including vision, laser, mechanical, magnetic, or rigid attachment. In one embodiment, registration may be accomplished by a multi-arm device having a single base using mechanical registration. In a mechanical registration, embodiments may register arm / platform placement, position and orientation based on their position, orientation and placement with respect to a single base. In another embodiment, the registration can be accomplished by a system having multiple basses using separate base registration and "hand trembling " between multiple robotic arms. In embodiments with multiple bids, registration can be accomplished by contacting the arms together from different bases and calculating the position, orientation and placement based on (i) the physical contact and (ii) the relative position of these bases. In some embodiments, the registration target can be used to match the position and orientation of the arms relative to each other. Through this registration, the arm and mechanism drive mechanisms can be calculated in space relative to each other. A skilled technician may use many different methods to register the robot platform.

System modularity and flexibility.

Referring again to Figure 1, the robotic surgical system 100 may be configured in a manner that provides a plurality of surgical system configurations by altering the IDM 117 and tool 118 (also known as end effectors). The system may include one or more mobile robot platforms located at different locations in the operating room or conveniently located nearby. Each platform may provide some or all of the power, pneumatics, lighting sources, data communication cables, and control electronics for the robot arm coupled to the platform, and the module may also be derived from such utilities. The system 100 may alternatively have a plurality of arms 102 mounted on one or more moving carts 101 or the arms may be mounted on the floor to provide a plurality of surgical configurations.

In addition to multiple arms and platforms, certain embodiments of the present invention are designed to facilitate interchange between multiple modules or end effector mechanisms. Various operations or steps within an operation may require the use of different modules and associated instrument sets, such as exchanging between different sizes of sheath and endoscope combinations. Due to the interchangeability, the system can be reconfigured for coordination with other clinical surgical or surgical approaches.

Figure 4A illustrates an embodiment compatible with interchangeable modules and mechanisms. The surgical system 400 as shown and described previously has one or more robotic arms 401 to which an IDM or module 402 with a tool or instrument 403 is attached. The modules 402 ', 402 "and associated instruments 403', 403" may be swapped on the robot arm 401 or picked up by another robotic arm (not shown) . Each module is a dedicated electromechanical system used to drive various types of equipment for a given operation. To drive the instrument, each IDM or module may include an independent drive system that may include a motor. These may include sensors (e.g., RFID) or memory chips that record calibration and application related information. If a new mechanism is connected to the robot arm, a system calibration check may be required. In some embodiments, the module may control an associated sheath, catheter reader, or flexible endoscope.

4A, the system 400 may exchange the IDM 402 for the IDMs 402 'and 402 "by themselves through the use of global registration and sensors. In some embodiments, The sensors 402 "and 403" are stored on the system cart 404 at a predetermined "docking station" comprised of identification and proximity sensors. The sensors of such stations may be RFID, optical scanners (eg, bar codes), EEPROMs A technique such as a physical proximity sensor may be used to identify and register which IDM is "docked " to the docking station. Because the robot arm 401 and the IDM docking station are on the system cart 404, The identification and proximity sensor allows the IDM placed on the docking station to be registered for the robot arm (s). Similarly, in embodiments having multiple arms on a single system cart, Using a combination of sensors, You can access the IDM on the calibration.

4B is two different views of the exchange mechanism 404, 405 that may be used to exchange and attach the module 402 to the robotic arm 401. FIG. The exchange mechanisms 404 and 405 provide a connection between a module such as the module 402 of Figure 4A and a robotic arm such as the robotic arm 401 of Figure 4a. In some embodiments, the mechanism 404 may be an interface on the module, such as a mechanism driving mechanism for connection to the mechanism 405, which may be the interface of the robotic arm. The mechanism 404 may include a mechanism interface 411 for connecting the flange 407 into the ring 408 of the mechanism 405. Similarly, the interface controls the tool, such as the sheath and flexible endoscope, by providing transmit power 409, fiber optics, data connections, pneumatic connections 410, 411, motors to drive the pulley system. Sheath and Flexible Endoscope As described for the embodiment, the sheath and flexible endoscope can be operably connected to the exchange mechanism.

5A-5D illustrate a mechanism exchanger interface in a robotic system in accordance with an embodiment of the present invention. 5A specifically illustrates an implementation of a mechanism exchange interface coupled to a robotic arm in a robotic system, in accordance with one embodiment of the present invention. 5A, the distal end of the robotic arm 500 includes a joint joint 501 connected to a "male" mechanism exchange interface 502. As shown in FIG. The joint joint 501 provides an additional degree of freedom with regard to operating the mechanism mechanism (not shown). The male mechanism exchanger interface 502 provides a male connector interface 503 that provides a strong, physical connection to a female reciprocal receptacle connector interface on the IDM (not shown). The spherical recesses on the male connector interface 503 are physically coupled to the mutual recesses on the female receptacle interface on the IDM. The spherical recesses may be extended when the air pressure is transmitted to the male mechanism exchanger interface 502 along the robot arm 500. The male mechanism exchanger interface 502 also provides a connection 504 for communicating air pressure to the IDM. This embodiment of the mechanism exchanger interface also provides an alignment sensor 505 that ensures that the male mechanism exchanger interface 502 and its female interconnections are properly aligned.

FIG. 5B shows another view of the male instrument interface interface 502 separated from the robot arm 500. FIG. 5A, the male mechanism exchanger interface 502 provides a planar male connector interface 503, a pneumatic connector 504, and an alignment sensor 505. As shown in FIG. The electrical interface 506 also couples electrical signals to the mutual interface on the IDM (not shown).

Fig. 5c shows a female interchangeable mechanism exchanger interface coupled to the instrumentation device actuator for coupling with the male mechanism exchanger interface 502 from Figs. 5a and 5b. 5C, the instrument device actuator 507 is connected to the armature changer interface 508 which is configured to be connected to the male mechanism exchanger interface 502 on the robot arm 500. As shown in FIG. The armature switch switch interface 508 provides the flange 509 with a groove for gripping a spherical recess on the male connector interface 503. When air pressure is applied, the spherical recesses on the male connector 503 extend and the male connector interface male connector 503 and the receptacle interface 509 securely couple the IDM 507 to the robot arm 500. The female interdigitated exchanger interface 508 also provides a pneumatic connector 510 that receives the air pressure delivered from the connector 504.

Figure 5d shows another view of the female mechanism exchanger interface 508 of Figure 5c. As described above, the mutual mechanism exchanger interface 508 includes a pneumatic connector 510 and an acceptance interface 509 for interfacing with the mechanism exchanger interface 502 on the robot arm 500. The mechanism exchange interface 508 also provides an electrical module 511 for transmitting electrical signals, such as power, control, sensors, etc., to the module 506 in the mechanism switch interface 502.

6 through 9B illustrate additional interchangeable modules that may be operated using the system 400 of FIG. 6 illustrates an embodiment of the present invention using a single port laparoscopic instrument 601 connected via instrument interface 602 on a single robotic arm 603 to the abdomen 604 of the patient 605. [

7 illustrates an embodiment of the present invention having two sets of robotic subsystems 701 and 704, each having a pair of robotic arms 702, 703, and 705 and 706, respectively. It is the laparoscopic instruments 707, 708, 709, 710 that are connected through the instrument interface at the distal end of each robotic arm, and all instruments cooperate to perform surgery in the individual patient 711.

8A illustrates one embodiment of the present invention having a subsystem 801 with one robotic arm 802 wherein the microscope tool 804 is connected to the robotic arm 802 via the instrument interface 803 do. In some embodiments, the microscope tool 804 may be used in conjunction with a second microscopy tool 805 used by the physician 806 to help visualize the surgical area of the patient 807.

FIG. 8B illustrates an embodiment of the present invention in which the subsystem 801 of FIG. 8A can be used in conjunction with the subsystem 808 to perform microsurgery. Subsystem 808 provides robot arms 809 and 810, each having microsurgical tools 811 and 812 connected through a meter interface on each arm. In some embodiments, the one or more robotic arms can pick up and exchange tools in other suitable retention mechanisms within the reach of the robotic arm, such as a table or docking station. 8A shows that the replaceable module is stored on the side of the cart on which the robot arm is mounted.

Robotic catheter design.

In the preferred embodiment, the robotic system 100 of FIG. 1 is capable of driving a customized tool for a variety of surgical operations, such as a robotic catheter 118. Figure 9 is a drawing of a robotic catheter that may be used in conjunction with the robotic system 100 of Figure 1, in accordance with an embodiment of the present invention. The robotic catheter 900 may be disposed about an internal longitudinally-aligned tubular body referred to as a "sheath" and a "leader ". The sheath 901, which is a tubular tool having a large outer diameter, can be composed of a proximal sheath section 902, a distal sheath section 903, and a central sheath lumen (not shown). Through the signal received in the sheath base 904, the outer sheath portion 903 can be articulated in the desired direction by the operator. Nested within the sheath 901 may be a reader 905 having a smaller outer diameter. Reader 905 may include a proximal reader section 906 and a distal reader section 907 and a central operating channel. Similar to the sheath base 904, the reader base 908 is often coupled to the end reader section 907 based on a control signal transmitted from the IDM (e.g., numeral 117 in FIG. 1) to the reader base 908 Control joint connection.

The sheath base 904 and the leader base 908 may have similar driving mechanisms and the control tendencies in the sheath 901 and the reader 905 are fixed. For example, manipulation of the sheath base 904 can apply a tensile load to the tendons of the sheath 901 and cause deflection of the distal sheath section 903 in a controlled manner. Similarly, manipulation of the reader base 908 may impose a tensile load on the tendon of the reader 905 to cause deflection of the distal reader section 907. [ The sheath base 904 and the reader base 908 may include connections for transmitting air pressure, power, electrical signals, or optical signals from the IDM to the sheath 901 and the reader 904.

The control tendon within sheath 901 and leader 905 may be routed to an anchor located at the end of the joint section through the joint section. In a preferred embodiment, the tendons in the sheath 901 and the reader 905 can be made of stainless steel control tendons that are routed through a stainless steel coil, such as a coil pipe. Those skilled in the art will appreciate that other materials such as Kevlar, tungsten, and carbon fibers may be used in the tendons. Applying a load to such a tendon deflects the distal portion of the sheath 901 and the leader 905 in a controllable manner. The inclusion of a coiled pipe along the length of the tendon in the sheath 901 and the leader 905 can return the axial compression to the origin of the load.

Using multiple tendons, the robotic catheter 900 provides control of a plurality of degrees of freedom (corresponding to respective tensens, respectively) at two points along its length, the distal sheath section 903 and the distal leader section 907 So that it is possible to easily search the lumen in the human body. In some embodiments, no more than four tendons can be used in either the sheath 901 and / or the reader 905, providing a degree of freedom of less than eight degrees of freedom. In other embodiments, no more than three tendons may be used that provide a degree of freedom of six degrees of freedom or less.

In some embodiments, the sheath 901 and the reader 905 may rotate 360 degrees to provide more tool flexibility. The combination of roll angle, multiple angles of joint connection, and multiple joint points provide a significant improvement over intuitive control of the device as the physician follows the curved path in the body.

Sheath and endoscopic structures.

FIGS. 10A, 10B, 10C, 11A and 11B are cross-sectional views of a sheath (similar to the sheath 210 described above) and a flexible endoscope (similar to the flexible endoscope 212 described above) according to an embodiment of the present invention. Are shown in detail. 10A shows a sheath 1000 having a distal end 1001 and a proximal end 1002 and a lumen 1003 operating between the two ends. The lumen 1003 is preferably sized to accommodate the flexible endoscope (such as the endoscope 1100 of Figs. 11A and 11B) in a sliding manner. The sheath 1000 has a wall 1004 having tenons 1005 and 1006 extending inside the length of the wall 1004 of the sheath 1000. Tendons 1005 and 1006 terminate at distal end 1001 by sliding through conduits 1007 and 1008 in wall 1004. In some embodiments, the tendon may be made of steel. A suitable tension of the tendon 1006 compresses the distal end 1001 toward the conduit 1008 and minimizes the bending of the helical section 1010. Similarly, a suitable tension of the tendon 1006 compresses the distal end 1001 towards the conduit 1008. In some embodiments, the lumen 1003 may not be concentric with the sheath 1000.

The tendons 1005 and 1006 and the associated conduits 1007 and 1008 from the sheath 1000 of Figure 10A preferably do not extend straight in the longitudinal direction of the sheath 1000 but spiral along the spiral section 1010, (I.e., substantially parallel to the central axis) in the longitudinal direction along section 1009. The helical section 1010 may begin from the proximal end of the distal section 1009 extending proximally toward the sheath 1010 and terminate at any desired length for any desired pitch or variable pitch. The length and pitch of the spiral section 1010 are determined based on the desired flexibility of the shaft and the desired characteristics of the sheath 1000 in view of the increased friction in the spiral section 1010. [ The tendons 1005 and 1006 proceed substantially parallel to the central axis 1011 of the sheath 100 when they are not in a helical section such as the proximal section of the endoscope 1000.

In some embodiments, the tendon ducts may be at 90 degrees to each other (e.g., at 3, 6, 9 and 12 o'clock). In some embodiments, the tendons can be spaced, for example, by a total of three tensides by 120 degrees from each other. In some embodiments, the tendons may not be evenly spaced. In some embodiments, they may all be on one side of the central lumen. In some embodiments, the number of tendons may not be three or four.

10B shows a three-dimensional view of an embodiment of a sheath 1000 having only one tendon for the purpose of clarifying the distinction between a non-helical section 1009 and a variable pitch helical section 1010. FIG. Fig. 10C shows an embodiment of a sheath 1000 three-dimensionally with four tensions close to the next spiral section 1010 extending along the tapered section 1010,

Figure 11A shows a flexible endoscope 1100 having a distal end 1101 and a proximal end 1102 which can be sized to slide within the sheath 1000 from Figures 1 and 2. The endoscope 1100 may include one or more actuation channels 1103 therethrough. The proximal end 1002 of the sheath 1000 and the proximal end 1102 of the flexible endoscope 1100 are operatively connected to the modules 206 and 208 of FIG. Tendons 1104 and 1105 slide through and pass through conduits 1106 and 1107 in wall 1108 and terminate at distal end 1101, respectively.

Fig. 11B illustrates a flexible endoscope 1100 having an imaging portion 1109 (e.g., a CCD or CMOS camera, a distal end of an imaging fiber bundle, etc.), a light source 1110 (e.g. LED, fiber optic, etc.) Other channels or actuating electronics 1106 are provided along the flexible endoscope 1100 and include a camera, suction, electricity, optical fiber, ultrasonic transducer, EM sensing, OCT sensing, and the like.

In some embodiments, the distal end 1101 of the endoscope 1100 may include a "pocket" for insertion of the tool as described above. In some embodiments, the pocket may include an interface for controlling the tool. In some embodiments, a cable, such as an electrical or optical cable, may be present in the endoscope to communicate with the interface.

In some embodiments, the sheath 1000 of FIG. 10, the flexible endoscope 1100 of FIG. 10A may have a distal end, preferably robotically steerable and steerable, as shown in FIG. 11a. Therefore, the structure of the sheath 1000 and the flexible endoscope 1100 that enable this control is substantially the same, and therefore the discussion of the structure of the sheath 1000 will be limited to the structure of the sheath 1000 .

Thus, the tendons 1104 and 1105 and the associated conduits 1106 and 1107 from the endoscope 1100 of Fig. 11 do not proceed longitudinally (i.e., substantially parallel to the central axis) in the longitudinal direction of the endoscope 1100 , And draws a spiral along another portion of the endoscope 1100. The spiral section of the endoscope 1100 may be determined based on the desired properties of the endoscope, taking into account the desired flexibility of the shaft and the increased friction of the spiral section, as well as the helical tendons and conduits of the sheath 1100. The tendons 1104 and 1105 extend substantially parallel to the central axis of the endoscope 1000 when not in a spiral section.

The purpose of the helical section described below is to help isolate the bend to the end section while minimizing the bending that occurs along the shaft adjacent the end section. In some embodiments of the present invention, the helical pitch of the ducts in the sheath 1000 and the endoscope 1100 may vary along the length of the helical section and the stiffness / strength of the shaft will change as will be described in more detail below .

The use of helical conduits and spiral tenses in the sheath 1000 and endoscope 1100 provides significant advantages when compared to conventional flexible instruments without helical conduits, particularly when navigating non-linear pathways in anatomical structures. When searching for a curved path, the sheath 1000 and endoscope 1100 remain flexible over most of the length and have at least a second bend of the instrument adjacent the distal bending section with the controllable and steerable distal section . In previous flexible tools, applying tension to the tendon to clarify the ends results in unwanted bending and torque along the entire length of the flexible tool, which is also referred to as "muscle strengthening" and "curve fitting," respectively.

Figures 12a-12c illustrate a method in which a previous flexible mechanism exhibits an undesirable "muscling" phenomenon when the tendon is pulled. 12A, the previous flexible device 1200 may have four tendons or control wires along the length of the device 1200 extending generally parallel to the central axis 1201. As shown in FIG. Tendons 1202 and 1203 are only connected (e.g., as control lumens) within the shaft wall fixed to the control ring 1206 on the distal end of the conduits 1204 and 1205. The mechanism 1200 is designed to have a bending section 1207 and a shaft 1207. Shaft 1208 may include a rigid material such as a stiffener.

FIG. 12B shows the ideal joint connection of the bending section 1207. Only the distal bending section 1207 is articulated and represented by the amount of φ and the difference in length at the proximal end of the tendons 1202 and 1203 is f (φ). In contrast, the shaft 1208 is held straight along the central axis 1201. This is accomplished by having a substantially rigid proximal region 1208 that is significantly higher than the distal region of the reference numeral 1207.

Figure 12C shows the actual result by the tenant 1203. As shown in FIG. 12C, when tensile 1203 is pulled, a compressive force is generated along the entire length of the shaft because the tension is not localized. In an ideal situation, the tensile 1203 along the central axis 1201, but the entire compressive load will be transmitted equally below the central axis, and most or all of the bending will occur at the bending portion 1207. [ However, as with the tenon 1203, the axial load is transmitted from the center axis 1201 in the same radial direction of the central axis that generates a cumulative moment along the central axis. The shaft 1208 thus bends (shown as &thetas;) the shaft 1208 which would be in the same direction as the bending in the bending section 1207. The length along conduit 1204 and conduit 1205 is bent by instrument distal bending section 1207. The size of the tendons 1202 and 1203 extending from the proximal end is f (?,?) Since the tendon 1203 needs to be shortened and the tensor 1202 needs to be long. This phenomenon in which the shaft 1207 and the distal bending section 1208 are bent by pulling the tendon 1203 is called "muscling. &Quot;

FIG. 12D shows the force that contributes to strengthening muscles three-dimensionally. As shown in FIG. 12D, the tensile tendon 1203 along the instrument 1200 causes the force 1203 to force the force 1212 in one direction of the instrument. The direction of the force 1212 is to force the tension of the force 1203 along a straight line from the tip of the distal bending section 1207 to the base of the shaft 1208, . (I.e., not easy to bend under an applied force), only shaft bending section 1207 will bend shaft 1208. However, in many applications, it is not desirable to make the shaft stiffness sufficiently different from the end portion to properly minimize the muscle force phenomenon.

Figures 12f-12i illustrate the manner in which the previous flexure mechanism experiences curve alignment during use in a non-linear path. 12F shows a prior flexure mechanism 1200 in a stationary state in a non-linear path represented as having a flex along the shaft 1208 of the mechanism 1200. For example, this can occur by tracing the trachea over the bronchial bend. Due to the non-linear bending, the tendons 1202 and 1203 of the instrument 1200 need to be lengthened or shortened at the proximal end by a length to accommodate the non-linear bend indicated by F (?). There are stretching forces and compressive forces on the upper and lower lumens / conduits of the bend, as shown by arrows 1209 (stretching force) and arrow 1210 (compressive force), respectively. This force exists because the distance along the top of the flexion is longer than the center axis and the distance along the inside of the flexion is shorter than the center axis.

FIG. 12G shows a manner of articulating the distal bending section 1207 of the instrument 1200 in the same direction as the bending?, And will pull the tendon 1203. This creates a compressive force along the length of the flexible mechanism and the tendon 1203 also exerts a downward force on the passing non-linear conduit, which causes additional compression to the previously compressed shaft 1208 by anatomical bending . Because this compressible lead is additive, the shaft 1208 will be further bent in the same direction as the distal bending section 1207. Additional compressive forces along the nonlinear conduit are highly undesirable. There is a risk of injury because (i) the flexible mechanism can suffer anatomical injuries, and (ii) the anatomical structure can be assumed to dominate the contour of the instrument shaft, because the shaft is constantly monitoring what it is doing (iii) it is an inefficient way to bend the instrument, (iv) it is desirable to isolate the bend in the distal section to aid in predictability and controllability (ie, the ideal instrument is bending (V) the user is required to pull the tendon 1103 with an unpredictable additional length ([phi] + [theta] + [tau]).

Figure 12h illustrates an embodiment of articulating a distal end opposite to a flexure < RTI ID = 0.0 > tau < / RTI > The pull tendon 1202 is in a resting state as shown in the extension load against bending of the bent portion. Tendon 1202 has the lowest energy state, i.e., compressive load 1211 lies inside bend tau, causing shaft 1208 to rotate in the direction of arrow 1212, Lt; / RTI > As shown in Figure 12i, rotation 1212 from the tension on the tenter 1202 moves the compressive load 1211 back into the bending inward direction and twists the distal bending section 1207 in the bending direction, . The tension on the tenter 1202 and the subsequent rotation 1212 actually returns the instrument 1200 to the same state as in Fig. The phenomenon that the distal refracting power returns to the bend portion? Is known as "curve alignment ". Curve alignment arises from the same forces that cause muscle movement, which results in undesirable lateral movement in the case of muscle strength enhancement and undesirable rotational movement in the case of curve alignment. It should be understood that the discussion of muscle strength and curve alignment theory is not intended to be limiting, and that the embodiments of the invention are not limited in any way by this description.

The preferred embodiment of Figures 10 and 11 substantially solves muscle and curvature alignment phenomena through the provision of helical section 1010. [ As in the spiral section 1010 of Figure 12j, the control lumen is formed spirally around the instrument 1200. The bending moments imposed on the shaft are also distributed symmetrically around the axis because the tensioned tendons 1215 symmetrically transmit the compressible rod 1214 in a number of directions about the central axis (Figures 12B and 12B) 10c). The longitudinal axis of the axis counteracts the opposite compressive and tensile forces. The distribution of the bending moments results in a minimum net bending and rotational force that produces a lowest energy state parallel to the central axis in the longitudinal direction, as indicated by dashed line 1216. This eliminates or substantially reduces muscle tone and curve alignment phenomena.

In some embodiments, the pitch of the helix may be varied to affect the friction and stiffness of the helical section. For example, helical section 1010 may be shorter to allow larger non-helical section 1009, resulting in less bending section and possibly less friction.

However, spiral control lumens create some compromises. The spiral control lumen still does not prevent buckling from tension of the tendon. Also, while muscle strength is greatly reduced, the curve to the helical spring-like pattern of the shaft due to the tension of the "spiral " tendons is very common. In addition, the helical control lumens must compensate for additional frictional forces when the tendon passes through the lumen at a greater distance.

Figure 13 illustrates the structure of a flexible endoscope device having an axially rigid tube within the lumen, according to an embodiment of the present invention. 13, the section of the endoscope apparatus has a single lumen 1301 with a pull wire 1302 wrapped around the shaft 1300 in a spiral pattern. Inside the lumen, the axially rigid tube 1303 has a pull wire 1302 and a floating tube 1303 anchored at the beginning and end of the spiral portion of the lumen shaft 1300, Extending and compressing in response to torsion to relieve the walls of lumen 1301 from stretching and compressive forces. In some embodiments, the tube 1303 may be secured by a pull ring at a point of time and an end point of the lumen. Alternatively, the tube 1303 can be secured using a brazing, welding, gluing, bonding or fusion method to the starting and end points of the lumen. In various embodiments, the tube 1303 can be formed from a subcutaneous tube, a coiled pipe, a Bowden cable, a torque tube, a stainless steel tube, or a nitinol tube. .

In the embodiment of Fig. 13, a tube may be fixedly attached to the distal end, and either or both ends may be rotated to collectively twist the tube. In this embodiment, the rotation of the end piece (s) ensures that the tubes are helical in the same pitch, manner and direction. After rotation, the end piece is fixedly attached to the lumen to prevent further rotation and to limit changes to the helical pitch.

14 shows a structure of a spiral pattern in the lumen of the flexible endoscope apparatus according to an embodiment of the present invention. 14, lumen 1400 includes structures 1401 and 1402 that form a spiral or spiral pattern along a wall. In a preferred embodiment, the structure is formed of a material that is axially rigid and tubular. In some embodiments, the structure may be formed from a subcutaneous tube ("hypotube"), coil pipe, or torque tube. As shown by the structures 1401 and 1402, the structure may have different starting points along the walls of the lumen 1400. The materials, composition and properties of the structures 1401 and 1402 may also be selected and configured for the desired stiffness and length. The pitch of the helical pattern formed by structures 1401 and 1402 may also be configured for desired stiffness and flexibility of lumen 1400. [ In some embodiments, lumen 1400 may be a central lumen of a flexible endoscope, such as endoscope 1100 of Fig.

Robotic catheter system.

15A illustrates a robotic catheter of a robotic catheter system in accordance with an embodiment of the present invention. The robotic catheter 1500 may include a flexible shaft section 1501 adjacent the support base (not shown) and a flexible joint section 1502 coupled to the distal tip 1503. [ Similar to the reader 1505, the robotic catheter 1500 can be articulated by applying a tensile load to the tendon within the shaft.

Figure 15B shows another view of the robotic catheter 1500 of Figure 15A. As shown in FIG. 15B, the distal tip 1503 may include an actuating channel 1504, four LEDs 1505, and a digital camera 1506. With respect to the LED 1505, the digital camera 1506 aids in searching within the anatomical lumen. In some embodiments, the distal tip 1503 can include an integrated camera assembly that accepts digital imaging means and illumination means.

The actuation channel 1504 may be used for the passage of an intra-operative instrument, such as a bending refraction, for accurate joint connection at the surgical site. In other embodiments, the actuation channel may be integrated to provide additional performance, such as flush, suction, illumination, or laser energy. The actuation channel can also facilitate the routing of control tendon assemblies and other lumens required for the above-described additional functions. The working channel of the robotic catheter can also be configured to deliver a variety of different therapeutic materials. Such materials can be cryogenic for ablation, radiation, or stem cells. These materials can be delivered precisely to the target site using the function of the insert, joints, and the robotic catheter of the present invention. In some embodiments, the actuating channel may be as small as 1.2 millimeters in diameter.

In some embodiments, an electromagnetic (EM) tracker may be coupled to the distal tip 1503 to assist in locating. As will be described below, a static EM field generator can be used to determine in real time the location of the EM tracker and the location of the distal tip 1503.

The image from the camera 1506 may be ideal for searching through anatomical spaces. Thus, masking the camera 1506 from an internal body fluid, such as mucus, can cause problems when being searched. Thus, the distal end 1503 of the robotic catheter 1500 may also include means for cleaning the camera 1506, such as a means for irrigation and suction of the camera lens. In some embodiments, the actuation channel may include a balloon that is inflated with fluid around the camera lens and can be inhaled once the lens is clean.

The robotic catheter 1500 enables delivery and manipulation of small instruments within a small anatomical space. In a preferred embodiment, the distal tip can be miniaturized to perform intraluminal surgery while maintaining an outer diameter of less than 3 millimeters (i.e., 9 French).

Figure 16 shows a distal end of a robotic catheter according to an embodiment of the present invention. As in FIG. 15A, the robotic catheter 1600 includes a distal end 1601 similarly having an outer casing 1602. The casing 1602 may be composed of a number of materials including stainless steel and polyether ether ketone (PEEK). The distal end 1601 may be packed into an actuation channel 1603 for slidingly providing tool access and control. Distal end 1601 may also provide a LED array 1604 for illumination using camera 1605. [ In some embodiments, a camera may be part of a larger sensor assembly that includes one or more computer processors, a printed circuit board, and a memory. In some embodiments, the sensor assembly may include other electronic sensors such as a gyroscope and an accelerometer (application is described below).

Instrument Device Manipulator (IDM).

In some embodiments, the mechanism exchange interface may be a simple screw to secure the associated IDM. In another embodiment, the mechanism exchange interface may be a bolt plate having an electrical connector.

17A shows a portion of a robotic medical system including an actuator according to an embodiment of the present invention. The system 1700 includes a robot arm 1701, a joint interface 1702, an instrument device actuator (IDM) 1703, and a robotic catheter 1704. In some embodiments, the robot arm 1701 may be a linkage of a larger robot arm having multiple joints and links. The joint interface 1702 connects the IDM 1703 to the robot arm 1701. In addition to the connections, the joint interface 1702 may also communicate air pressure, power signals, control signals, and feedback signals to the arm 1701 and the IDM 1703.

The IDM 1703 drives and controls the robotic catheter 1704. In some embodiments, the IDM 1703 uses angular movement transmitted through the output shaft to control the robotic catheter 1704. As described below, the IDM 1703 may include a gear head, a motor, a rotary encoder, a power supply circuit, and a control circuit.

The robotic catheter 1704 may include a shaft 1709 having a distal tip and a proximal end. A tool base 1710 for receiving the control signal and driving it from the IDM 1703 may be connected to the proximal end of the shaft 1709. [ The shaft 1709 of the robotic catheter 1704 is coupled to the tool base 1704 of the robotic catheter 1704 via the output shafts 1705, 1706, 1707 and 1708 Controlled, manipulated, and guided based on angular movements imparted to the arms 1710,1710.

Figure 17b shows another view of the robotic medical system shown in Figure 17a. 17B, the robotic catheter 1704 is removed from the IDM 1703 to expose the output shafts 1705, 1706, 1707, 1708 and output shafts 1705, 1706, 1707, 1708. Removing the outer skin / shell of the IDM 1703 reveals the components beneath the IDM top cover 1711.

Figure 18 shows another view of the independent drive mechanism of Figures 17A and 17B with a tension sensing device in accordance with an embodiment of the present invention. In the cross-section 1800 of the IDM 1703, the parallel drive units 1801, 1802, 1803 and 1804 are the largest constituent elements in the IDM 1703. In some embodiments, from proximal to distal end, the drive unit 1801 may include a rotary encoder 1806, a motor 1805, and a gear head 1807. The drive units 1802, 1803, and 1804 are similarly configured, and include a gear head, an encoder, and a motor under the top cover 1711. In some embodiments, the motor used in the drive unit is a brushless motor. In another embodiment, the motor may be a DC servomotor.

The rotary encoder 1806 monitors and measures the angular velocity of the drive shaft of the motor 1805. In some embodiments, the rotary encoder 1806 may be a preliminary rotary encoder. The structure, performance and use of a suitable pre-encoder is disclosed in U.S. Provisional Patent Application No. 62 / 037,520, filed August 14, 2014, the entire contents of which are incorporated herein by reference.

The torque generated by the motor 1805 can be transmitted to the gear head 1807 through the shaft connected to the rotor of the motor 1805. [ In some embodiments, the gear head 1807 may be attached to the motor 1805 to increase the torque of the motor output relative to the rotational speed. Similarly, the drive units 1802, 1803, and 1804 transmit respective torques to the outside through the gear head shafts 1706, 1707, and 1708.

Each individual drive unit may be coupled to the motor mount at its distal end and coupled to the strain gage mount toward its proximal end. Similarly, the drive unit 1802 can be fixed to the motor mount 1811, and both can be fixed to the strain gage mount 1810. In some embodiments, the drive unit 1802 is fabricated from a motor mount 1809 aluminum to reduce weight. In some embodiments, the strain gage mount may be glued to the side of the drive unit. In some embodiments, the strain gage mount may be constructed of aluminum to reduce weight.

Electrical strain gages 1812 and 1813 are potted and soldered to strain gage mount 1810 and attached to motor mounts 1809 and 1811, respectively, using screws. Similarly, a pair of strain gages (not shown) adjacent to drive units 1803 and 1804 are potted and soldered to strain gage mount 1814 and attached to motor mounts 1815 and 1816, respectively, using screws. In some embodiments, the electrical strain gage may be secured in position to each motor mount using side screws. For example, the side screw 1819 may be inserted into the motor mount 1809 to hold the strain gage 1812 in place. In some embodiments, the gauge wiring of the electrical strain gage may be vertically arranged to detect any vertical deformation or bending of the drive. This can be measured as the horizontal displacement by the motor mounts 1809, 1811 relative to the strain gage mount 1810.

The strain gage wiring can be routed to the circuit on the strain gage mount. Similarly, strain gage 1813 may be routed to circuit board 1818, which may also be mounted on strain gage mount 1810. In some embodiments, strain gage 1810 may be mounted to strain gage mount 1810. The circuit boards 1817 and 1818 may each process or amplify signals from the strain gages 1812 and 1813. The proximity of circuit boards 1817 and 1818 to strain gauges 1812 and 1813 helps to reduce the signal-to-noise ratio to obtain more accurate readings.

19A is a cross-sectional view at different angles of the independent drive mechanisms of Figs. 17A, 17B and 18. Fig. As shown in FIG. 19A, a portion of the outer shell / skin 1901 was cut to reveal the interior of the IDM 1703. As described above, the drive unit 1801 includes a motor 1805, a rotary encoder 1806, and a gear head 1807. The drive unit 1801 is coupled to the motor mount 1809 and the output shaft 1705 passes through a top cover 1711 which can be driven at a desired angular velocity and torque. The motor mount 1809 can be coupled to the vertically aligned strain gauge 1812 using side screws. Strain gauge 1812 can also be ported into strain gage mount 1810 in addition to coupling to motor mount 1809. [ In some embodiments, the output shaft 1705 includes a labyrinth seal on the gearhead shaft.

Figure 19b is a cross-sectional view of the above described independent drive mechanism in combination with a robotic catheter, in accordance with an embodiment of the present invention. 19B, the robotic catheter 1704 mounted on the IDM 1703 is coupled to the output shaft of the IDM 1703, such as a pulley 1902, which may be concentric with the output shaft 1705, And includes an aligned pulley. The pulley 1902 is not rigidly fixed within the chamber 1903 but rather is "floating" within the space of the chamber 1903.

The spline of the pulley 1902 is designed to align and fix with the spline on the output shaft 1705. In some embodiments, the spline is designed to be only in a single direction so that the robotic catheter is aligned with the IDM. While the pulley 1902 aligns with the output shaft 1705 to position and maintain the floating pulley 1902 in the axial direction while ensuring that the pulley 1902 is aligned concentrically with the output shaft 1705, 1904). ≪ / RTI > Shaft 1705 and pulley 1902 tighten the pull wires within robotic catheter 1704 to form the joints of shaft 1709.

Figure 20 shows another view of the above described independent drive mechanism with a pull wire from a robotic catheter in accordance with an embodiment of the present invention. In some embodiments, the robotic catheter may use pull wires to joint and control the shaft. These pull wires 2001, 2002, 2003 and 2004 may be pulled or loosened by the output shafts 1705, 1706, 1707 and 1708 of the IDM 1703. [ Accordingly, the pull wire can be robotically controlled through the control circuit of the IDM 1703. [

2002, 2003 and 2004) shafts and motor mounts (not shown) as output shafts 1705, 1706, 1707 and 1708 transmit forces to the tensioning wires 2001, 2002, And the drive unit. For example, the tension applied to the tensioning wire in a direction away from the output shaft generates a force pulling the motor mounts 1809 and 1811. [ This force can be measured by strain gauges such as 1812 and 1813, all of which are deformed by the motors 1809 and 1811 and are ported to the strain gage mount 1810.

Figure 21 shows a conceptual diagram illustrating how a horizontal force can be measured by a strain gauge oriented perpendicular to a force in accordance with an embodiment of the present invention. As shown in Fig. 21, the force 2101 can be moved away from the output shaft 2102. Fig. As the output shaft 2102 is coupled to the motor mount 2103, the force 2101 causes a horizontal displacement of the motor mount 2103. Thus, for both the motor mount 2103 and the ground 2105, the motor mount 2103 can cause the force gauge 2104 to bend (deform) in the direction of the force 2101. The amount of deformation causes the horizontal displacement of the tip of the strain gage 2104 to be applied to the entire horizontal width of the strain gage 2104. Thus, the strain gage 2104 can ultimately measure the applied force 2101 on the output shaft 2102.

In some embodiments, the assembly may include an apparatus for measuring the orientation of an instrument device actuator 1703, such as an inclinometer or accelerometer. Strain gauges with strain gauges can be sensitive to gravity load effects due to direction to the ground, so measurements on the device can be used to correct readings on strain gauges. For example, when the instrument device actuator 1703 is oriented on its side, the weight of the drive device produces a strain on the motor mount that can be transmitted to the strain gage, even though the deformation is not due to deformation of the output shaft can do.

In some embodiments, the output signal from the strain gauge circuit board may be coupled to another circuit board to process the control signal. In some embodiments, the power signal is routed from processing the control signal to a drive on the other circuit board.

As described above, the motors in the drive units 1801, 1802, 1803, and 1804 ultimately drive output shafts such as output shafts 1705, 1706, 1707, and 1708. In some embodiments, the output shaft may, in some embodiments, utilize a labyrinth seal (1905 in Figure 19A) around the output shaft to prevent fluid ingress. In some embodiments, the distal end of the gearhead shaft may be covered with an output shaft to transmit torque to the tool. In some embodiments, the output shaft may be clad to the steel cap to reduce magnetic conductance. In some embodiments, the output shaft may be secured to the gearhead shaft to aid torque transmission.

The mechanism mechanism 1703 may also be covered with a shell or skin, such as an outer shell / skin 1901. In addition to being aesthetically pleasing, the shell provides fluid penetration protection during operation, such as during a medical procedure. In some embodiments, the shell may be constructed using cast urethane for electromagnetic shielding, electromagnetic compatibility, and electrostatic discharge protection.

In one embodiment of the invention, each of the output shafts having a respective tension can pull the wire from a robotic catheter using steerable catheter technology. The pulling force in the pull wires can be transferred to the output shafts 1705, 1706, 1707, 1708 and delivered to a motor mount, such as motor mounts 1809, 1811.

Surgical and endoscope manufacturing.

In a preferred embodiment, the sheath and endoscopic device are constructed using a steerable catheter construction method. Typically, the steerable catheter is made by braiding wires or fibers, i. E. Braid wires, around the process core wire with a braiding, i. E. The braid, and the pool lumen of a polymer jacket applied on the braid wire. During manufacture, the process mandrel will typically be inserted into the braiding tube of the braid coupled to the braided cone tube and braided cone holder. Using a puller with a thread, the process mandrel advances through the supply tube. As the process mandrel progresses, it eventually emerges through the center hole of the nose cone. The nose cone provides a round smooth shape in which braided wires from the surrounding horn gears can slide easily around the mandrel during the braiding process. The nose cone is usually held in a fixed position in the axial and radial directions with respect to the braid cone holder using a set screw fixed to the braid cone holder. When the process mandrel is pulled through the nose cone, the horn gear translates and rotates around the mandrel to braid the braid wire around the mandrel in a predetermined pattern and density.

22 is a flow chart of a method of constructing a catheter having a helical lumen according to an embodiment of the present invention. To begin, at step 2201, the primary process mandrel may be selected to create a cavity in the catheter for the central lumen that can be used as an actuation channel. An auxiliary mandrel may be selected to create a cavity in the wall of the catheter for use as a control lumen. The main process mandrel can exhibit a larger OD (OD) than the supplemental mandrel to reflect the relative size difference between the working channel and the pool lumen. The supplemental mandrel may be composed of a metal or a thermosetting polymer that may or may not be coated with a lubricous coating such as PTFE.

In step 2202, the main process mandrel may be inserted into the supply tube of the rotating braider against the fixed braided cone tube and braided cone holder. Similarly, the supplementary mandrel may be inserted into the supply tube in a manner parallel to the main process mandrel. In a typical catheter configuration, a smaller filler mandrel passes through the center of the horn gear for braiding.

In step 2203, the main process mandrel may be advanced through the feed tube using a fuller with a tread. As the main process mandrel progresses, it eventually emerges through the center hole of the nose cone.

Similarly, the replenishing mandrel advances through the outer hole of the nosecone to also exit. This is in contrast to traditional catheter configurations in which the complementary mandrel is typically advanced through a separate feed tube and out of the center of the horn engine.

In step 2204, the main process mandrel and the supplementary mandrel are braided together using a braided wire as coming through the nose cone. The nose cone provides a round, smooth shape and the braid wire of the surrounding horn gear can easily slide around the main process mandrel during the braiding process. When both the main mandrel and the auxiliary mandrel are out of the nosecone, the nosecone is rotated so that the auxiliary mandrel of the outer hole is helically braided around the main process mandrel. As the main process mandrel and auxiliary mandrel are braided together, the hone gears translate and rotate to place the braided wire in a predetermined pattern and density in both the main process mandrel and the replenishing mandrel.

This braiding method is significantly different from the conventional method of catheter construction in which the nose cone is held in a radially fixed position relative to the braided cone holder using a set screw that is typically fixed to the braided cone holder. Thus, special hardware is required for the braid process to produce a catheter having a helical control lumen.

At step 2205, upon completion of the braiding process, the polymer coating or jacket may be made of sheath material, heated and bonded to the brazing composite. The polymer coating can be applied to over-press or film-cast processes. In step 2206, after bonding, the mandrel may be removed from the braided composition to create a central lumen or actuation channel (main process mandrel) for the camera and illumination tool and some control lumens (auxiliary mandrel) for manipulation control . After removing the mandrel, the braided composite material may be finished (2207).

In a conventional steerable catheter structure, a smaller replenishing mandrel passes through the center of the horn gear to braid onto the main process mandrel. The auxiliary mandrel, made of polyimide coated with Teflon, can be braided to the main process mandrel when pulled through the nose cone. have. Alternatively, it is known in the art that the replenishing mandrel can pass through a small hole in the nose cone surrounding the center hole. When the main process mandrel is pulled through the nose cone, it can be twisted onto the main process mandrel when the small supplementary mandrel is pulled from the nose cone.

To keep the ancillary mandrel in place, the braid wire of the second layer is typically placed on the primary process mandrel after attaching the supplemental mandrel. Once the braiding process is complete, the polymer coating or jacket can be coated and heated and bonded to the braided composite. After bonding, the mandrel is generally removed from the braided composite to create a central lumen (main process mandrel) for camera and lighting tools and several control lumens (auxiliary mandrel) for manipulation control. This manufacturing method results in an endoscope having a control lumen longitudinally parallel to the central axis. As discussed above, catheter-type endoscopes with tension in the tendon in longitudinally parallel lumen exhibit muscle and curve alignment phenomena.

Thus, special hardware is required for the braiding process to produce a catheter-type endoscope having a helical control lumen. Part of such hardware is a special rotating nose cone that is fixedly coupled to a rotating feed tube or "hypotube" in some embodiments. Figure 23 illustrates a specialized nose cone for making a spiral lumen in a flexible sheath, catheter and / or endoscope, in accordance with an embodiment of the present invention. The auxiliary mandrels 2302, 2303 and 2304 are rotated through the replenishment holes 2305, 2306 and 2306 by rotating the nose cone 2300 simultaneously with the main process mandrel 2301 being pulled through the nose cone 2300. [ The mandrel 2301 hitch gear includes respective holes 2307 and 2307 surrounding the center hole 2308 similar to braiding a braided wire around the main process mandrel 2301.

24 illustrates a system for manufacturing a flexible sheath and an endoscope according to an embodiment of the present invention. In system 2400, nose cone 2401 may be fixedly coupled to rotating feed tube 2402 using a set screw that holds nose cone 2401 in a fixed position relative to feed tube 2402. Thus, the nose cone 2401 rotates the supply tube. In contrast, conventional systems typically use a set screw to securely couple the nose cone 2401 to the non-rotating braided cone support holder 2405. The center hole 2403 of the nose cone 2401 can be aligned with the rotating supply tube 2402 to gently pull the main process mandrel 2404 through both structures. In contrast, in the conventional system, a fixing screw for fixing the nose cone 2401 to the braided cone support holder 2405 was used. In some embodiments, the rotating supply tube 2402 includes a main supply tube 2402 having an inner diameter larger than the circumferential space of the center hole 2403 of the braided cone tube 2406. The rotation feed tube 2402 generally passes through the nose cone 2401 without entangling the main process mandrel 2404 and the supplementary mandrel. In some embodiments, the rotating feed tube 2402 is long enough to pass through the center of the horn gear of the braider. In some embodiments, the rotating feed tube 2402 may be attached to a mechanism that can maintain a bobbin of material for the replenishing mandrel to pass through the feed tube 2402 and into the replenishment hole around the nosecone 2401 .

In some embodiments, the supply tube 2402 may be attached to a drive mechanism that controls the rotational speed of the supply tube 2402 and the rotation of the nose cone 2401. In some embodiments, because the drive mechanism brazes the braided wire 2408 around the primary process mandrel 2404, the drive mechanism is aligned with the braider itself or is independently controlled to form the rotation feed tube 2402 ) Is kept constant. The rotational speed and knitting rate will determine the pitch of the replenishing mandrel on the main process mandrel 2404. [ As described above, this can affect the flexibility, stiffness and "pressing force ".

In another embodiment, changing the circumferential direction of the pool lumen can change the stiffness of the spiral section of the endoscope. In the manufacturing process this is done by changing the pitch of the supplementally helical mandrel. As the pitch of the mandrel decreases (i.e., the angle to the longitudinal axis), the bending stiffness of the braided composite increases. Conversely, as the pitch of the supplementary mandrel increases, the bending stiffness decreases. In some embodiments, the pitch of the ancillary mandrel may be varied within the spiral portion 1010. In these embodiments, the flexural stiffness of the braided composite may vary within the spiral portion.

During the braiding process, the braiding machine may be stopped to change the braided composite. In some embodiments, one modification may be the addition of a straight line or a stiffening rod. The reinforcing rod can greatly increase buckling, axial and bending stiffness of the braided laminated composite. Reinforcement rods are particularly useful for long endoscopes that require special buckling prevention or manual assistance to reduce buckling of the device so that it can be inserted into a patient's body. In some embodiments, the braiding machine may be configured to selectively brace a reinforcement rod that can be pulled from a hole in the nose cone into the process mandrel, wherein the reinforcement rod is captured and secured in place by the braid wire. The lack of reinforcement rods in the distal region of the endoscope preserves the flexibility of the device at the distal end while increasing the stiffness at the proximal end. A combination of these properties allows the resulting endoscope to guide, insert, and push into the lumen of the patient.

Applying the replenishing mandrel on the main process mandrel using the holes in the rotating nose cone provides a number of manufacturing advantages. If a hole is used in the nose cone, the mandrel is not pushed out of the horn gear. Pushing the mandrel from the center of the individual horn gear, which serves to weave the braided wire, the mandrel is woven with the braided wire resulting in fixing the braid matrix in position in the longitudinal direction. This construction, known as "zero construction", limits the ability of the manufacturer to adjust the braid base for the desired flexibility or hoop strength. At zero construction, the auxiliary mandrel must be limited to "over-under" by the braid, so that all braid wires braided in the clockwise direction are "woven" up the braid mandrel and all counter-clockwise braid wires are " It is not desirable if the pitch of the replenishing mandrel must be changed along the main process mandrel because the 0 degree structure locks the auxiliary mandrel in the radial direction.

Additionally, the use of a horn gear as a passageway to the replenishing mandrel limits the number of replenishing mandrels that can be applied to the primary processing mandrel. For example, a maximum of eight mandrels can be applied to sixteen carrier braids, and a maximum of twelve mandrels can be provided to twenty four carrier braids. In contrast, using a hole in the nose cone allows any number of mandrels to pass through the main process mandrel.

In some embodiments, the supplemental mandrel can be applied to the primary process mandrel without the connection of the second outer wire braid layer. Instead, the auxiliary mandrel can be applied without braid wires. In these specific examples, the bonded / fused polymer jacket can hold the mandrel and thus maintain the lumen in place. Alternatively, in some embodiments, the mandrel can be held in place using casting around the braided composite. Since the outer braided layer is not present in the manufacturing endoscope device, the diameter and circumference of the device cross section are reduced. Alternatively, the supplementary mandrel may be secured in place by sleeveing the polymer mandrel over the process mandrel. In some embodiments, the cast is the same material as the sheath material for an endoscopic device.

In some embodiments, the supplementary mandrel can be braided on the main process mandrel very much like a braid wire. For example, in some embodiments, The mandrel can be braided using an even horn gear and is held in place by a braided wire using an odd horn gear. In this way, the supplementary mandrel and thus the lumen can be woven into the wall of the central lumen. As an additional advantage, embodiments made using this means also tend to have lower circumferential regions.

Alternatively, in some embodiments, the spiral lumen structure may be fabricated using an extruded mold. These molds create a spiral lumen structure to make jackets from PTFE, pebax, polyurethane and nylon. In some embodiments, the extrusion structure may be formed using a mold around the braided mandrel.

In some embodiments, the spiral lumen structure can be performed by rotating the main process mandrel as it is drawn through the braider. By rotating the main process mandrel instead of the nose cone, the auxiliary mandrel can be drawn through the center of the hinge gear either through the fixed nose cone or during the brazing process. In this embodiment, the nose cone can be fixedly coupled to the nose cone holder and the main process mandrel is rotated when it is withdrawn through the nose cone.

The sheaths of the flexible endoscope 1100, Figs. 11A and 11B in Figs. 10A, 10B and 10C are substantially the same. Thus, one of ordinary skill in the art will appreciate that the same principles apply to both tools.

In some embodiments, the spiral lumens may be positioned equidistant from each other. Figure 25 illustrates a cross-sectional view of a flexible endoscope device in which a pool lumen is symmetrically disposed about the circumference of the device in accordance with one embodiment of the present invention. 25, the apparatus 2500 includes four central lumens 2502, 2503, 2504 and 2505 spaced symmetrically around the central actuation channel 2501, the actuating channel 2501 and within the outer jacket 2506, ).

In some embodiments, spiral but lumen and pull wires can not be distributed uniformly or equidistantly with one another about the circumference of the sheath and / or flexible endoscope. In some applications, smaller outer diameters are allowed by grouping all lumens and pull wires on the same side or hemisphere region (e.g., top vs. bottom hemisphere) of the sheath and endoscope.

Figure 26A shows a cross-sectional view of a flexible endoscope device in which the pool lumen is not arranged symmetrically about the circumference of the device in accordance with an embodiment of the present invention. An apparatus 2600 similar to apparatus 2500 of Fig. 25 has an operating channel 2601, four pool lumens 2602, 2603, 2604 and 2605, and an outer jacket 2606. In some embodiments, the actuation channel may be created with a hollow tube that is made of a flexible metal alloy, such as Nitinol.

However, as shown by the circumference of the outer jacket 2606, the pool lumens 2602, 2603, 2604 and 2605 are grouped together to reduce the outer diameter of the device, rather than being equidistant from one another. Because the pool lumens are not equally spaced about the circumference of the actuating channel 2601, making the pool lumens spiral in the apparatus shown in the apparatus 2600 is still advantageous, for example, because of the helical advantages of avoiding muscle or curvature alignment phenomena . Although the pool lumens of the device 2600 are disposed adjacent to one another around the actuating channel 2601, other embodiments may be spaced within the same hemisphere, clustered together, or arranged in different patterns, such as other arrangements. The jacket 2606 may be made of plastic or any other material that can be drawn, bonded, or melted during manufacture of the apparatus 2600.

Figure 26B shows an isometric view of the flexible endoscope device 2600 shown in Figure 26A according to one embodiment of the present invention. As shown in FIG. 26B, lumens 2602, 2603, 2604, and 2605 draw a spiral around actuating channel 2601. In some embodiments, the pitch of the spiral pull lumen may be varied to obtain the desired properties, such as stiffness and flexural flexibility from the device 2600 (Fig. 26B).

Figure 27 illustrates a flow diagram of a method of manufacturing device 2600, in accordance with an embodiment of the present invention. As shown in step 2701, the manufacturing process 2700 begins with selecting a backbone for the workpiece. In some specific examples, the backbone may be a hypodermic " hypo "tube or a hollow tube such as a nitinol tube. Those skilled in the art will appreciate that tube material may be desirable because the tubular structure simultaneously exhibits axial stiffness and low bending stiffness. The tube also provides an operating channel through which useful tools and cables such as optics, suction, irrigation and control can be inserted. In some embodiments, the backbone may be a solid rod, such as one for use as a navigable guidewire.

Following selection of the backbone, in step 2702, the process mandrel (s) may be spiraled around the backbone at a desired pitch. In some specific examples, the process mandrel may be coated with polytetrafluoroethylene (PTFE) to facilitate removal during step 2705. [ The pitch of the helical mandrel can be fixed or dynamic, allowing different bending and stiffness depending on the application. As the pitch is lower, that is, parallel to the central axis of the backbone in the longitudinal direction, the axial pressure under tension is lowered, and also exhibits increased strength and curvature alignment. Higher pitch helix generally reduces strength and axial alignment and increases axial compression under tension.

At step 2703, the resulting workpiece, including the backbone and one or more helical mandrels, may be shezed or covered with a "jacket ". In some embodiments, the jacket is a simple extruded tube or sheath. The choice of sheathing means may be important. The sheath can accidentally change the pitch of the process mandrel around the backbone. In some embodiments, a "sheathing" process may be accomplished by casting, deposition, extrusion extrusion, or any other means known in the art.

At step 2704, the jacket may be bonded to the operating piece, if not already bonded from the sheeting process. This may involve melting, shaping, or bonding to the workpiece using any number of processes known to those skilled in the art. Once bonded, the jacket can secure the process mandrel in place.

At step 2705, upon completion of the bonding process, the helical process mandrel is removed to create a helical tension lumen cavity, i.e., lumen, that moves longitudinally along the length of the operating piece. In step 2706, after removal of the mandrel, the pull wire may be threaded into the remaining cavity. In operation, the pull wire may be used to facilitate pull wires to articulate the endoscope device.

Since method 2700 does not use braiding, it provides a construction of a workpiece and apparatus with a relatively small outer diameter, which may be suitable for reaching areas that require a miniature instrument, for example a microsurgical application . Although the above-described manufacturing method can be applied to devices of various sizes and diameters, the preferred embodiment generally has an outer diameter of less than 2 mm.

Integrating the resulting workpiece into an endoscopic device can be accomplished by bending the workpiece jacket or by melting, molding, bonding and casting the outer jacket of another component such as a tool tip. In some embodiments, the backbone may include structures for adjacent microsurgical bending tools, such as ribs and tools for increased bending radii and longitudinally aligned cavities for control wires.

My hardness search.

In one embodiment of the invention, the search for a robotic catheter through an anatomical lumen involves the use of a computer-generated three-dimensional map based on a set of two-dimensional images generated by low-dose computed tomography (CT) scans . Each two-dimensional CT scan showing a cross-section of the patient's internal anatomy can be collected during the pre-operative procedure. These scans can be analyzed to determine the patient's cavity and anatomical space, such as the path of the bronchi or urethra in the lung.

After being analyzed to determine the associated anatomical space within the patient, the space may be represented by a luminal having coordinates in the center space in the three-dimensional space, i.e., the center of the lumen. The volume of such a cavity can be represented by a specific measurement of the diameter distance at each centerline coordinate. A computer generated model of the 3D lumen can be created by tracking the centreline and corresponding diameter distance measurements. Grid coordinate data can be used to represent the three-dimensional space and cavity representing the patient's anatomy.

Figures 28A and 28B show the relationship between centerline coordinates, diameter measurements and anatomical space. 28A, the anatomical lumen 2800 can be roughly traced longitudinally by centerline coordinates 2801, 2802, 2803, 2804, 2805, and 2806, wherein each centerline coordinate is approximately the lumen . By connecting these coordinates as shown by "centerline" 2807, lumen can be visualized. The volume of the lumen can be further visualized by measuring the diameter of the lumen at each centerline coordinate. Thus, reference numerals 2808, 2809, 2810, 2811, 2812 and 2813 represent measurements of lumen 2800 at coordinates 2801, 2802, 2803, 2804, 2805 and 2806.

28B, lumen 2800 can be visualized in a three-dimensional space by first positioning centerline coordinates 2801, 2802, 2803, 2804, 2805 and 2806 in a three-dimensional space based on centerline 2807 have. In each centerline coordinate, it is visualized as a two-dimensional circular space having diameters 2808, 2809, 2810, 2811, 2812 and 2813. [ By connecting these two-dimensional circular spaces in three dimensions, lumen 2800 can be approximated by three-dimensional model 2814. The approximation can be determined by increasing the centerline coordinates and the resolution of the measurement, i. E. Increasing the centerline coordinates and the density of the measurement for a given lumen or subsection. Centerline coordinates may also include a marker indicating the physician's point of interest, including lesions.

The three-dimensional model of the anatomical space is then expressed and generated, and the pre-surgical software package can also analyze and derive the optimal search path based on the generated module. For example, a software package can derive a single lesion (represented by the centerline coordinates) or a shortest path to multiple lesions. This path can be provided to the operator in two or three dimensions depending on operator preference.

29 illustrates a computer generated three-dimensional model representing an anatomical space, in accordance with an embodiment of the present invention. As discussed above, the model 2900 may be created using a centerline 2901 obtained by reviewing the pre-operative CT scan. In some embodiments, the computer software may map the optimal path 2902 for the catheter system to access the surgical site 2903 and its corresponding anatomical space within the model 2900. In some embodiments, the surgical site 2903 may be linked to a separate centerline coordinate 2904 that allows the computer algorithm to topologically retrieve the centerline of the model 2900 for an optimal path 2902 for the catheter system have.

By tracking the distal end of the robotic catheter within the body structure of the patient and mapping the position to placement within the computer model, the retrieval capability of the catheter system is enhanced. A number of approaches may be used individually or in combination to track the "locating" of the distal, working end of the robotic catheter.

In a sensor-based approach to localization, a sensor, such as an electromagnetic (EM) tracker, may be coupled to the distal working end of the robotic catheter to notify the progress of the robotic catheter in real time. In EM based tracing, the EM tracker embedded in the robotic catheter measures changes in the electromagnetic field generated by one or more static EM transmitters. A transmitter (or field generator) may be placed near the patient to create a low intensity magnetic field. This induces a small current in the sensor coil of the EM tracker and is related to the distance and angle between the sensor and the generator. The electrical signal can be digitized by the interface device (on-chip or PCB) and sent back to the system cart and command module via cable / wiring. The data can then be processed to interpret the current data and calculate the exact position and orientation of the sensor relative to the transmitter. Different positions of the catheter, for example, a reader and a sheath, can be used to calculate the individual positions of the components. Thus, based on the readings of an artificially generated EM field, the EM tracker can sense a change in field strength as it passes through a patient's anatomy.

Figure 30 illustrates a robotic catheter system using an electromagnetic tracker in combination with an electromagnetic field generator, in accordance with an embodiment of the present invention. The electromagnetic tracker 3003 at the distal end of the robotic catheter 3001 is driven by the EM field generator 3004 when the robot system 3000 leads the robot driven catheter 3001 to the patient 3002 The generated EM field can be detected. The EM tracker 3003 may be communicated to the system cart 3005 along the shaft of the robotic catheter 3001 and may include a command module 3006 (including associated software modules, central processing unit, data bus and memory) for analysis and analysis Lt; / RTI > Using the readings from the EM tracker 3003, the display modules 3007 can display the relative position of the EM tracker within the pre-generated three-dimensional model for review by the operator 3008. [ Embodiments may also include other types of sensors, optical shape sensors. Although various sensors may be used for tracking, the choice of sensor can be inherently limited based on (i) the size of the sensor in the robotic catheter and (ii) the manufacturing and integration cost of the sensor into the robotic catheter.

Before tracking the sensor through the patient's anatomy, the tracking system may require a process known as a "coordinate system, " wherein the system finds a geometric transformation that aligns a single object between different coordinate systems. For example, a patient's specific anatomical location has two different representations in CT model coordinates and EM sensor coordinates. To be able to establish consistency and common language among these coordinate systems, the system must look for transforms that connect these two representations (ie, registrations). That is, the position of the EM tracer relative to the position of the EM field generator may be mapped to a three-dimensional coordinate system to isolate the position in the corresponding three-dimensional model.

In some embodiments, registration may be performed in several steps. 31 is a flowchart of a registration process according to an embodiment of the present invention. To begin, at step 3101, the operator first places the working end of the robotic catheter in the known starting position. The start position can be confirmed using the video image data of the catheter camera. Initial positioning can be accomplished by identifying anatomical features through a camera located at the operative end of the catheter. For example, registration can be performed by locating the bases of the organs that are distinguished by locating the two major bronchi for the left and right lungs in bronchoscopy. This position can be confirmed using the video image received by the camera at the distal end of the catheter. In some embodiments, the video data may be compared to different sections of a pre-generated computer model of a patient's body structure. By sorting through a section, the system can find a "match" by identifying a location that is associated with a section, or a section with the fewest "errors. &Quot;

In step 3102, the operator can "drive" or "extend" the robotic catheter into a unique anatomical space that is already mapped. For example, in bronchoscopy, the organs can move the catheter from the organ base to a unique bronchial route. Since the base of the organ is divided into two bronchi, the operator can drive the robot catheter into one tube and track the working end of the robotic catheter using the EM tracker.

At step 3103, the operator monitors the relative movement of the robotic catheter. Monitoring of the robotic catheter can determine the relative movement of the robotic catheter using an EM tracker or fluoroscopy. The relative displacement evaluation of the working end of the robotic catheter can be compared to the computer model generated from pre-operative CT scan data. In some embodiments, the relative movement can be matched with the centerline of the computer model, and it is an accurate registration that the transformation matrix leads to a minimum error. In some embodiments, the system and the operator can track the insertion data (described below) and directional data from the accelerometer and / or the gyroscope (described below).

At step 3104, the operator may decide to move to more anatomical spaces 3102 and collect more position information before comparing and analyzing position data. For example, in bronchoscopy, an operator retrieves a catheter from one bronchial tube, pushes it back, and moves the catheter to another bronchus to collect more position data. If satisfied, the operator may stop driving (3102), monitor position data (3103) and proceed with data processing.

In step 3105, the system may analyze the collected position data and compare the data to a pre-generated computer model to register the catheter displacement in the patient ' s anatomy with the model. Thus, by comparing the movement of the patient in the anatomy with the 3D model of the patient's anatomy, the system can register a tracker for both the three-dimensional computer model and the patient anatomical space. After the analysis, the registration process may be completed 3106.

In some cases, it may be necessary to perform "roll registration" to identify the orientation of the robotic catheter. This may be particularly important at step 3101 before entering the unregistered anatomical space. In bronchoscopy, the appropriate vertical orientation allows the operator to distinguish between the right and left bronchi. For example, within the organ base, the images of the left and right bronchi can be seen very similar regardless of whether the camera is aimed at 0 degrees or 180 degrees. Roll registration may be important because the kinematic structure of the robotic catheter typically results in a slight rotation during navigation of the curved path in the patient.

Roll registration can be important in the surgical position if the actuation channel can be occupied by the sensor. For example, in an embodiment with only one actuation channel, once the surgical site is reached, the physician may need to remove the EM tracker from the robotic catheter to use another tool, such as a grasper or forceps have. However, upon removal, the system may lose its localization capability without an EM tracker. Thus, if you are ready to leave the surgical area, inserting an EM tracker may require you to perform roll registration again to ensure proper orientation.

In some embodiments, rotation of the robotic catheter may be tracked using an accelerometer mounted within the distal working end of the device. Using an accelerometer to sense gravity in the catheter provides information related to the location of the robotic catheter. The position of the ground relative to the catheter may be used to resolve certain ambiguities. For example, knowing the direction (0 degrees or 180 degrees) of the end camera of the catheter in the bronchoscope is helpful in determining proper bronchial initiation. During navigation, the accelerometer data can automatically correct the camera image displayed on the control console to track the direction and direction of gravity so that the displayed image is always vertically oriented.

In a preferred embodiment, a three-axis MEMS-based sensor chip with an accelerometer can be coupled onto the same printed circuit board as the digital camera near the tip of the catheter. The accelerometer measures the linear acceleration along three different axes to calculate the velocity and direction of the catheter tip. Accelerometers also measure the direction of gravity and thus provide absolute information about the direction of the catheter. Accelerometer readings are transmitted using digital or analog signals over a communication protocol such as I2C. The signal can be passed through the wire to the proximal end of the catheter, which can be delivered to the system cart and command module for processing.

In a three-axis sensor, the accelerometer can determine the position of the ground relative to the catheter. A two-axis accelerometer may be useful if the catheter does not rotate or bend to 90 degrees. Alternatively, a 1-axis sensor may be useful if the axis of the accelerometer is perpendicular to the direction of gravity, i. E. Perpendicular to the plane of the ground. Alternatively, a gyroscope can be used to measure rotational speed, which can be used to calculate the joint of the catheter.

Some embodiments use an EM tracker in conjunction with an accelerometer to compensate for any directional readings from the accelerometer. In some embodiments, fluoroscopy may be used to supplement the registration process to track the robotic catheter. As is well known in the art, fluoroscopy is an imaging technique that uses X-rays to obtain a real-time video of a patient's internal structure through the use of fluoroscopic devices. Two dimensional scans generated by fluoroscopy can help localize in certain situations (e.g., identification of the involved bronchi).

Tracing using fluoroscopy can be performed using a plurality of radiopaque markers on the catheter. Many functions of the catheter are naturally opaque to x-rays, including camera heads, control rings and pull wires. Thus, the marker position with the metallic component of the catheter can be used to obtain a three-dimensional transformation matrix. Once the registration is made, the visual image sensing the point location can be accurately associated with the 3D model. In addition, it is possible to measure and improve the overall trunk length and branching position on a map.

In contrast to the sensor-based approach, vision-based tracking involves determining the position of the robotic catheter using images generated by end-mounted cameras. For example, in bronchoscopy, a feature tracking algorithm can be used to identify a circular structure corresponding to a bronchial pathway and track the change from image to image of the terrain. By tracking the orientation of these features as they move from one image to another, the system can determine the relative rotation and translation of the camera as well as selected branches. Using a topological map of the bronchial pathway can further improve the vision-based algorithm.

In addition to feature-based tracking, image processing techniques such as optical flow can also be used to identify the branches of the airway phase in the bronchoscope. Optical flow is the displacement of an image pixel from one image to another in a video sequence. Optical flow can be used to estimate movement of the scope tip based on changes in the camera image received at the scope tip with respect to the bronchoscope. Specifically, in a series of video frames, each frame may be analyzed to detect the translation of a pixel from one frame to the next. For example, if a pixel in a given frame appears to be moving to the left of the next frame, the algorithm inferred that the end of the camera and range moved to the right. The movement of the scope (eventually, position) can be determined by comparing many frames over many iterations.

In contrast to monocular image capturing, if stereoscopic image capture is possible, optical flow techniques may be used to complement existing three-dimensional models of anatomical regions. Using stereoscopic image capture, the depth of the pixels of the two-dimensional captured image can be determined to form a three-dimensional map of the object in the camera view. This technique, which estimates to move within the anatomical lumen, allows the system to explore the interior of the patient's anatomy and develop a three-dimensional map of the environment surrounding the catheter. This map can be used to extend predefined three-dimensional computer models with missing or poor quality data in the model. In addition to stereoscopic camera devices, you may also need to use depth sensor or specific lighting configurations and image capture techniques such as RGB-D sensors or structural lighting.

Regardless of the tracking method, sensor based or visually based tracking methods can be improved by using data from the robotic catheter itself. For example, in the robotic catheter 200 of FIG. 2A, the relative insertion lengths of the sheath 201 and the reader 205 may be measured from a known starting position in the organ (in the case of a bronchoscope). Using the relative insertion length and the centerline of the three-dimensional model of the patient's bronchial tree, the system can roughly estimate the position of the end-of-operation after determining whether the robot catheter is located at the point and moved down the distance. Other control information from the robotic catheter may be used, such as catheter device connection, roll or pitch and yaw.

Real-time imaging based on different imaging modalities will further enhance the search, especially at the surgical site. Tracking the rough search for the surgical site may be helpful, but additional forms may be useful when more precise handling is required, such as when attempting a lesion biopsy. Imaging tools such as fluorescence imaging, near-infrared imaging, oxygen sensors, molecular biomarker imaging, and contrast dye imaging can help identify precise coordinates of lesions in computer models and manipulate biopsy needles at the surgical site. If there is no precise location, the entire tissue of the surgical site can be biopsied at a known depth using a robotic catheter to collect tissue from the lesion.

In some cases, the segmented CT scan and the resulting computer model do not exhibit branches at the periphery of the lung (with respect to lung organ examination). This may be due to insufficient expansion of the airway during the scan or because the size of the branches is lower than the resolution of the CT scan (typically around 1 millimeter). In fact, the robot system can improve the computer model during surgery by indicating the position, position and orientation of unmapped branches. In some embodiments, the topology structure may allow a physician to return to the same location to mark his location and examine its surrounding branches. In some embodiments, the catheter camera may measure the diameter and shape of the branch based on the captured image and cause these branches to be mapped based on position and orientation.

My knee surgery.

Figure 32A illustrates the distal end of a robotic catheter within an anatomical lumen, in accordance with an embodiment of the present invention. In Figure 32A, a robotic catheter 3200 including a shaft 3201 is shown looking through the anatomical lumen 3202 toward the surgical site 3203. During the search, the shaft 3201 may not be articulated.

Figure 32b shows the robotic catheter of Figure 32a used at the surgical site within the anatomical lumen. Upon reaching the surgical site 3203, the longitudinally aligned distal reader section 3204 with the shaft 3201 may extend from the shaft 3201 in the direction indicated by arrow 3205. The distal leader section 3204 may also be articulated to direct the tool towards the surgical site 3203. [

Figure 32c shows the robotic catheter of Figure 32b used at the surgical site within the anatomical lumen. When the surgical site includes lesions of the biopsy, the distal termination portion 3204 is articulated in the direction indicated by arrow 3206 to deliver a suction needle 3207 for targeting lesions in the surgical site 3203 . In some embodiments, biopsy forceps can be directly connected to remove anatomical tissue specimens for intraoperative evaluation purposes. For activation of the end effector, the robotic catheter 3200 may include a tendon operably coupled to the biopsy forceps.

Figure 33A illustrates a robotic catheter coupled to a distal bend in an anatomical lumen, in accordance with an embodiment of the present invention. 33A, a robot catheter 3300, including a shaft 3301, a flexure 3302 and a forceps 3303, is shown navigating through the anatomical lumen 3304 toward the surgical site. During the search, the shaft 3301 and the distal bend 3302 may both be non-articulated as shown in FIG. 33A. The structure, configuration, function, and use of the flexure portion 3302 are described in U.S. Patent Application No. 14 / 201,610, filed March 7, 2014, and U.S. Patent Application No. 14 / 479,095, filed Sep. 5, The entire contents of which are incorporated by reference.

In some embodiments, the flexure portion 3302 may be longitudinally aligned with the shaft 3301. In some embodiments, the flexure portion 3302 is deployed through an actuation channel that is off-axis (center axis) of the shaft 3301 to deflect the camera located at the distal end of the shaft 3301 And provides a bend portion 3302 to operate without. This arrangement allows the operator to use the camera to articulate the bend 3302 while the shaft 3301 is fixed.

Similar to other embodiments, another tool, such as forceps 3303, may be deployed through the actuating channel at flexure 3302 for use at the distal end of flexure 3302. [ In other scenarios, the grasper, scalpel, needle and probe may be located at the distal end of flexure 3302. As in other embodiments, in the robotic catheter 3300, the tool at the distal end of the flexure can be replaced during surgery to perform multiple treatments with one operation.

33B illustrates a robotic catheter of FIG. 33A with a forceps tool for use in a surgical site within an anatomical lumen, in accordance with an embodiment of the present invention. The search of the robotic catheter 3300 through the anatomical tube 3304 may be guided by the various exploration techniques described above. Once the robotic catheter 3300 reaches a desired position in the surgical site 3306 the flexure 3302 may be moved in the direction of the arrow 3305 in a joint connection to direct the forceps 3303 towards the surgical site 3306 have. Using the forceps 3303, the robotic catheter 3300 can perform tissue biopsy of the surgical site 3306.

33C illustrates a robotic catheter of FIG. 33A with a laser device used in a surgical site within an anatomical lumen, in accordance with an embodiment of the present invention. Upon reaching the surgical site 3306, the flexed portion 3302 of the robotic catheter 3300 can be deflected and the laser tool 3307 can be deployed through the operating channel of the shaft 3301 and the flexure 3302 . Once deployed, it includes a surgical site 3306 that emits laser radiation 3308 for laser tool cutting, penetrating, cutting, incising, or accessing non-surface tissue.

Command console.

As discussed in connection with the system 100 of FIG. 1, an embodiment of the command console allows an operator, i.e., a physician, to remotely control the robotic catheter system from an ergonomic position. In a preferred embodiment, the command console utilizes a user interface that (i) allows the operator to control the robotic catheter, and (ii) displays the search environment from an ergonomic position.

Figure 34 illustrates a command console for a robotic catheter system in accordance with an embodiment of the present invention. In Figure 34, the command console 3400 may include a base 3401, a display module such as a monitor 3402, and a control module such as a keyboard 3403 and a joystick 3404. In some embodiments, the command module functionality may be incorporated into a system cart with a mechanical arm, such as the system cart 101 of the system 100 of FIG.

Base 3401 may include a central processing unit, a memory unit, a data bus, and associated data communication ports responsible for interpreting and processing signals such as camera image and tracking sensor data from the robotic catheter. In another embodiment, the burden of the interpretation and processing signal may be distributed between the associated system cart and the command console 3400. The base 3401 may also be responsible for interpreting and processing instructions and instructions from the operator 3405 via, for example, control modules such as 3403 and 3404.

The control module serves to capture an instruction of the operator 3405. In addition to the keyboard 3403 and joystick 3404 of Figure 34, the control module may include other control mechanisms known in the art including, but not limited to, a computer mouse, trackpad, trackball, control pad and video game controller . In some embodiments, hand gestures and finger gestures may also be captured to convey control signals to the system.

In some embodiments, there may be various control means. For example, the control for the robot catheter may be performed in the "speed mode" or the "position control mode ". The "speed mode" consists of directly controlling the pitch and yaw motion of the distal end of the robotic catheter based on direct manual control such as the joystick 3404. For example, the right and left movement on the joystick 3404 is at the distal end of the deflecting and pitch shifting robotic catheter. The haptic feedback of the joystick can also be used to improve the control function in the "speed mode". For example, vibration may be transmitted back to the joystick 3404 to communicate that the robotic catheter can not be further articulated or rolled in a particular direction. Alternatively, a pop-up message and / or audio feedback (e.g., beeping) may also be used to communicate that the robotic catheter has reached maximum joint motion or roll.

The "position control mode" is configured to identify a location on a three-dimensional map of a patient and rely on the system to roboticly steer the catheter to an identified location based on a predetermined computer model. Because of the dependence of the patient's three-dimensional mapping, the position control mode must accurately map the anatomy of the patient.

Without using the command module 3401, the system can also be operated directly by the manual operator. For example, during system installation, physicians and assistants can move mechanical arms and robotic catheters to place equipment around the patient and the operating room. During direct operation, the system relies on the force feedback and inertia control of the human operator to determine the proper machine direction.

Display module 3402 may include a monitor, such as a goggle or glasses, a virtual reality viewing device, or other means of visual information about the system and camera in the robotic catheter. In some embodiments, the control module and the display module may be combined, such as a touch screen of a tablet or a computer device. In the combined module, the operator 3405 can view visual data as well as input commands to the robot system.

In another embodiment, the display module may display a three-dimensional image using a stereoscopic device such as a visor or a goggle arrangement. Using a three-dimensional image, the operator can observe the "endo view" of the computer model, which is the virtual environment inside the three-dimensional computer generated model of the patient's tissue, to estimate the expected location of the device within the patient . By comparing the "end view" with the actual camera image, the physician can mentally orient himself and see if the robotic catheter is in the correct position of the patient. This can give the operator a better sense of the anatomy around the distal end of the robotic catheter.

In a preferred embodiment, the display module 3402 can display a pre-generated three-dimensional model, a predetermined optimal search path and an anatomic CT scan through the model at the current location of the distal end of the robotic catheter. In some embodiments, the model of the robotic catheter may be displayed as a three-dimensional model of the patient's anatomy to further clarify the condition of the surgery. For example, a lesion may have been identified on a CT scan that may require a biopsy.

During operation, the camera means and illumination means at the distal end of the robotic catheter may generate a reference image in the display module for the operator. Thus, the direction in the joystick 3404 that causes the distal end of the robotic catheter to bend and roll produces an image of the anatomical feature directly in front of the distal end. When the joystick 3404 is directed upward, the pitch of the distal end portion of the robot catheter is raised by the camera, and the pitch can be reduced by lowering the joystick 3404.

The display module 3402 can automatically display different views of the robotic catheter according to the operator's settings and the specific surgery. For example, if desired, a plan perspective view of the catheter may be displayed during the final search step as it approaches the operating area.

Virtual rail for vascular surgery.

Figure 35A illustrates an isometric view of a robotic catheter system in accordance with an embodiment of the present invention. 35A, the system 3500 conveys the use of a catheter device 3501 of three mechanical arms 3502, 3503 and 3504 operatively connected to a surgical table 3505. In the femoral artery insertion point mechanical arms 3502, 3503, and 3504, the system 3500 can configure the catheter apparatus 3501 as a virtual rail to access the femoral artery and remaining vascular system of the patient 3506. Within the femoral artery, the rest of the vascular system of the patient, such as the patient's heart, must be connected and "driven" to the joint.

Figure 35B shows a top view of a robotic catheter system 3500 in accordance with an embodiment of the present invention. As shown in FIG. 35A, mechanical arms 3502, 3503, and 3504 can be used to create a virtual rail for catheter device 3501 on the left leg of patient 3506. Thus, the flexibility of the mechanical arm system allows access to the insertion point 3507.

Figure 36 illustrates an isometric view of a robotic catheter system with a greatly increased angle of virtual rail, in accordance with an embodiment of the present invention. With the use of mechanical arms, the present invention permits a larger insertion angle depending on the operator's application, operation and requirements. As shown in FIG. 36, system 3600 may include three mechanical arms 3602, 3603, 3604 operably coupled to a surgical bed 3605 with a patient 3606. The catheter 3601 may be aligned with the femoral artery of the patient in the patient's right leg 3607 on the virtual rail. In such an arrangement, the angle between the device 3601 and the patient's leg 3607 may exceed 45 degrees.

With the help of robot control, the angle during surgery may be changed so that the insertion trajectory may vary from start to finish. Changing the insertion orbit during surgery can provide more flexibility in adjusting the operating room layout. For example, it may be advantageous for a low initial insertion angle. However, as the operation progresses, it may be more convenient for the operator to increase the angle to provide additional spacing between the patient and the robotic system.

In addition to the multiple rail configuration, the use of a mechanical arm of the system provides an additional advantage. In current flexible catheter techniques, flexible catheters often experience resistance during catheter insertion. This resistance, coupled with the flexibility of the catheter, causes the patient to undesirably bend, or "buckle," outside the catheter in an insertion that "pushes " the catheter into the patient's body. This "buckling" phenomenon can typically be solved by manually inserting the catheter into the insertion point, which adds additional labor to the operator. In addition, the unsupported outer portion of the catheter due to the "buckling" phenomenon is undesirable. The torque sensing algorithm and mechanism can be used to identify instances of buckling in addition to external force inputs since force measurements can have unique indications.

37A-37D are a series of plan views of a vascular procedure in which the use of a mechanical arm is catheter buckling and reducing the length required, in accordance with an embodiment of the present invention. 37A, system 3700 incorporates the use of four mechanical arms 3702, 3703, 3704, and 3705 operably coupled to a surgical bed 3706 with a patient 3707. 37A, the arm may be used to align the catheter device 3701 with a virtual rail having an insertion point 3708 in the femoral artery of the right leg of the patient 3707.

The arms 3702 and 3703 can drive the catheter device 3701 by driving the tool bases 3709 and 3710 of the catheter 3701. [ The tool bases 3709 and 3710 can be "driven" using a variety of methods including the direct drive method described below. The mechanism at the flange points 3704 and 3705 of the arm can be used to support the catheter device 3701 to reduce buckling and reduce wasted length. The flange points 3711 and 3712 can support the catheter 3707 through manual or direct drive means. In manual support, the flange points 3711 and 3712 may use a simple loop, groove, redirecting surface, or a manually rotating surface (i.e., a wheel or roller). As shown in FIG. 37A, flange points 3711 and 3712 provide passive "anti-buckling" support to catheter 3701. In the manual support, the arms 3704, 3705 move along the virtual rail to support the generally bending catheter device 3701. [ For example, in some embodiments, arms 3704 and 3705 are configured to always maintain the same distance from the patient ' s body and tool base.

Figure 37B is a top view of the vascular procedure of Figure 37A using system 3700, in accordance with an embodiment of the present invention. As shown in Figure 37B, when the catheter 3701 is further inserted into the femoral artery of the patient 3707, the support arm 3705 may be retracted to provide a clearance for inserting the catheter 3701 into the patient . Thus, the arm 3705 can provide "anti-buckling" support when the catheter 3701 is first inserted, and can be removed when an extension of the catheter 3701 is needed. This flexibility provides improved control over the catheter 3701 and reduces the "wasted length" along the catheter 3701.

37C illustrates another top view of a vascular procedure using a system 3700 in accordance with an embodiment of the present invention. 37C, when the catheter 3701 is inserted again into the femoral artery of the patient through the insertion point 3708, the support arm 3704 also includes a catheter 3701 for insertion of the catheter 3701 into the patient 3707 Can be contracted to provide a clearance. Anti-buckling "support if desired, and may be retracted when the catheter 3701 is further extended.

In active support, the flange points on the mechanical arms 3704 and 3705 can be mechanical or mechanical driven systems, such as grippers or active rotating surfaces (i.e., wheels or rollers). In some embodiments, the flange point may remain stationary, as opposed to being always adjusted in the case of manual support.

Figure 37d is a top view of a vascular procedure in which a mechanical arm provides active drive support through use of a roller powered at a flange point of the arm, in accordance with an embodiment of the present invention. 37D illustrates the use of the system 3700 of Figs. 37A-37C in which the passive support system at flange points 3711 and 3712 is replaced by an active drive mechanism such as rollers 3713 and 3714. Fig. As shown in Figure 37d, the active drive mechanisms 3713 and 3714 provide mechanized support for preventing anti-buckling. In some embodiments, the angular velocity of the rollers may be synchronized with drive control for tool bases 3709 and 3710 to ensure proper insertion speed and control. Additionally, in order to reproduce the pushing motion of the physician, the active drive mechanisms 3713 and 3714 are located as close as possible to the insertion point. As the catheter 3701 extends into the patient, the arms 3703, 3704 can be retracted as needed to obtain a maximum extended length from the catheter 3701. [

Although the embodiment has been discussed in relation to access to the femoral artery, a very similar mechanical arm arrangement can be constructed to access the femoral vein vein vein.

The flexibility of the present invention allows for a variety of vascular processes requiring access to different points within a patient ' s vascular system. 38A and 38B illustrate vascular surgery in which a robotic catheter can be inserted into a carotid artery according to an embodiment of the present invention. Specifically, Figure 38A shows an isometric view of a blood vessel procedure in which the catheter can be inserted into the carotid artery. 38A, the system 3800 delivers the catheter 3801 using two mechanical arms 3802 and 3803 operably coupled to the surgical table 3804. The mechanical arms 3801 and 3802 can align the catheter 3801 with the virtual rail to access the carotid artery insertion point 3805 and the rest of the vascular system of the patient 3806.

Figure 38B shows a top view of a vascular system 3800 in accordance with an embodiment of the present invention. As shown in Figure 38B, mechanical arms 3802 and 3803 can be used to create a virtual rail for the catheter 3801 on the shoulder of the patient 3806. Thus, the flexibility of the mechanical arms 3802 and 3803 allows access to the insertion point 3805 of the carotid artery.

Figure 39 illustrates vessel surgery in which a robotic catheter may be inserted into the brachial artery in accordance with an embodiment of the present invention. 39, the system 3900 delivers the catheter 3901 using two mechanical arms 3902 and 3903 that are operably coupled to the surgical table 3904. The surgical table 3904 includes left and right extensions 3906 and 3907, all of which include rails that allow the arms 3902 and 3903 to slidably access the extensions. The mechanical arms 3902 and 3903 can then align the catheter 3901 with the virtual rail to access the brachial artery insertion point 3905 and the rest of the vascular system of the patient 3908.

40A and 40B illustrate vascular surgery in which a robotic catheter can be inserted into a radial artery according to one embodiment of the present invention. Specifically, Figure 40A shows an isometric view of a blood vessel procedure in which the catheter may be inserted into the radial artery. As shown in Figure 40A, the system 4000 delivers the catheter 4001 using two mechanical arms 4002 and 4003 operably coupled to a surgical table 4004. The mechanical arms 4002 and 4003 can align the catheter 4001 with the virtual rail and access the insertion point 4005 of the rest of the arterial and vascular system of the patient 4006.

FIG. 40B is a top view of a vascular system 4000 according to an embodiment of the present invention. As shown in FIG. 40B, mechanical arms 4002 and 4003 can be used to create a virtual rail for catheter 4001 above the wrist of patient 4006. Thus, the flexibility of the mechanical arms 4002 and 4003 allows access to the insertion point 4005 in the radial artery.

Thus, a number of arms and / or platforms can be used to form a "virtual rail" that enables a variety of operations requiring various patient access points. In operation, each platform / arm must be registered with others that can be achieved by a plurality of forms, including vision, laser, mechanical, magnetic, or rigid attachment. In one embodiment, registration may be accomplished by a multi-arm device having a single base using mechanical registration. In a mechanical registration, embodiments may register arm / platform placement, position and orientation based on their position, orientation and placement with respect to a single base. In another embodiment, the registration can be accomplished by a cart-based system having a plurality of bases using separate base registration and "hand trembling " between multiple robotic arms. In a cart-based embodiment with multiple basses, registration can be achieved by contacting the arms together from different bases and computing their position, orientation and placement based on (i) physical contact and (ii) relative positioning of these bases. Registration techniques for bed or table-based systems may vary. In some embodiments, the registration target can be used to match the position and orientation of the arms relative to each other. Through this registration, the arm and mechanism drive mechanisms can be calculated in space relative to each other.

Virtual rail alignment method.

41 is a flow chart illustrating a method 4100 for aligning the arms of a robotic surgery system. The cancer of the robotic surgical system may be aligned according to method 4100 before, during, or after the patient's surgery. In some embodiments, the female alignment method may incorporate the use of offsets to accommodate configurations including curved paths or (for example, Y-shaped) joint paths.

In step 4110, the first and second robotic arms of the system may be registered with each other. In some embodiments, the system may include a third robot arm or additional robot arm (s) that can be registered with each other.

In step 4120, the first and second robotic arms, typically their tool bases, can be aligned to be a virtual rail configuration. Generally, the end effector, interface end, device manipulator, or tool base of the robotic arm can be robotically aligned to the virtual rail. In some embodiments, the third robotic arm or additional robotic arm (s) may be arranged to be in a virtual rail configuration. In some embodiments, a third robotic arm may be used to position the patient interface device at the patient access point. In some embodiments, the third robotic arm can be used to position a guide wire or tool manipulator for use in an operating channel of an endoscopic device.

In step 4130, the admittance / impedance mode of the robotic surgery system may be enabled. The admittance / impedance mode may be enabled in any number of ways such as voice control, joystick control, pedal control, computer device control, and the like. The admittance mode for a robot component typically includes a force velocity or acceleration command detected by the robot. The torque sensor or tactile sensor of the robot arm senses the external force such as the person pushing the end of the arm and uses the force vector as a command to move the robot. However, if the admittance mode is activated due to unintentional external forces such as accidental bumps, the robot can move. Using the button or toggle switch will enable / disable the admittance mode, but it can be difficult for a person to interact with multiple cancers.

In some embodiments, the use of a direct physical input to the cancer, for example a "tap" or "push" of the cancer, can also be used to enable the admittance mode. This simplifies the interaction between human and robot and makes it more intuitive. For example, in one embodiment, when the admittance mode is deactivated, the robot remains in position while the torque sensor continuously reads and waits for input. When a double tap is performed on the arm, the tap signal is identified by the algorithm and the robot is switched to the admittance mode.

In other words, admittance control is an approach to the control of dynamic interaction from the robot to its environment. In admittance control, the robot takes the force as input and computes the resulting velocity or acceleration as an output. When an external force such as a push is applied to the admittance mode robot, the controller induces the robot to move in the opposite direction until the force is minimized. Virtual parameters such as mass, spring and damping can be adjusted in the admittance control to change the relationship between force and position.

In contrast, the impedance mode is the inverse of the admittance mode. In the impedance mode, the robot component has a position input for generating a force output. The control loop uses position measurement to determine whether to output an external force. For example, a robot in impedance mode can be moved forward (touching) until it touches a wall and point to a wall with a constant force of 5 Newton (force). Given a force profile to follow the robot in impedance mode, the robot will move to maintain its force profile. The robot components are moved away to avoid external forces applied in the admittance mode, and the robot components are moved to maintain the applied external force in the impedance mode.

In step 4140, the first robot arm may detect a force applied by the user in the first robot arm. The first robotic arm may include one or more links and joints; The first robot arm may include a tactile sensor and / or force sensor connected to the link by being disposed on an external surface of the torque sensor or link connected to the joint. For example, the robot arm may include a series of actuators held by a link therebetween, wherein the actuator, the serial chain arm, and the robotic arm sense torque at each joint and / Can be detected. Optionally or in combination, a force sensor can be coupled to the tool base, the device actuator, or the interface end of the first robotic arm. The second robot arm or the like may be similar to the first robot arm.

The robot arm may be coupled to a controller that implements an algorithm for computing where an external force is generated. When using the tactile sensor, the activated sensor can directly indicate the position of the external force. For torque sensing at the joint, the algorithm can perform an estimate to calculate the position at which the input force can occur in the arm. The algorithm can read a given input type, such as whether the input is a slow push, quick tab, shake, or pool.

In step 4150, the first robotic arm can typically automatically move based on a force vector applied by the determined user.

In step 4160, the second robotic arm can be moved automatically and simultaneously to maintain virtual rail alignment with the first robotic arm. In some embodiments, the third robotic arm or additional robot arm (s) can typically move automatically and simultaneously to maintain a virtual rail alignment with the first and second robotic arms.

The first, second and any further robotic arms can be moved in a number of ways as described below and herein, such as along one or more of the X, Y, or Z axes (in this case, (In this case, the robot arm may have different motion vectors and magnitudes) on the virtual rail line. For example, a user with such a physician can grab and move one of the end effectors and move the entire set of end effectors remaining in the virtual rail alignment. In another example, the robotic arm may be pivoted about the point at which the area where the endoscopic device or tool is administered to the patient is activated. In some embodiments, the system may include a third or additional robotic arm, and the force applied to a subset of the robotic arms (e.g., two of the robotic arms) And the like. In another example, a user with such a pseudo can hold two of the end effectors and translate them to one or more of the X, Y, or Z axes, respectively, with substantially similar motion vectors, while the remaining end effectors maintain virtual rail alignment And then moved automatically in such a way that In another example, a user such as a physician can grab two end effectors and convert them to different motion vectors, while the remaining end effectors can automatically move in a manner that maintains virtual rail alignment and rotates the end effector. In one instance of the virtual rail, the end effector can be grabbed and rotated to rotate the virtual rail of the end effector relative to the grip and the rotated end effector. The movement of the robot arm and the end effector may be translational movement when the system detects that one of the end effectors has been caught and the movement of the robot arm and end effector may be a rotation of the system, When the effector is rotated, it is detected that two or more end effectors are gripped and converted.

At step 4170, the admittance / impedance mode of the robotic surgery system may be deactivated. The admittance / impedance mode may be deactivated in any number of ways such as voice control, joystick control, pedal control, computer device control, sensor reading, timeout, and the like. In another embodiment, the admittance / impedance mode senses that there is no externally applied force. In some embodiments, either mode can be effectively deactivated by a significant increase in the force threshold.

Although the above steps illustrate a method 4100 of aligning the cancers of a robotic surgery system in accordance with many embodiments, those skilled in the art will recognize many variations based on the teachings described herein. The steps may be completed in a different order. Steps may be added or deleted. Some steps may include sub-steps. Many steps can be repeated as often as necessary or repeatedly.

One or more steps of method 4100 may be performed with the circuitry described herein using, for example, one or more of a processor or logic circuit, such as, for example, programmable array logic or a field programmable gate array. The circuitry may be a component of the control console or control computing unit described herein. The circuitry may be programmed to provide one or more steps of the method 4100 and the program includes program instructions stored in a programmed step of a logic circuit such as, for example, a computer-readable memory or programmable array logic or field programmable gate array can do.

42A, the first robot arm tool base 4208 and the second robot arm tool base 4210 may be arranged to form a virtual rail 4209. [ The first and second robotic arm tool bases 4208 and 4210 can be translated to one or more of the X-axis, Y-axis, or Z-axis while maintaining the virtual rail 4209 have. The distance between the first and second robotic arm tool bases 4208 and 4210 can be kept constant through any movement. In this movement, the movement vectors of the first and second robot arms are the same. In some cases, the axial distance may increase or decrease during movement.

The first and second robotic arm tool bases 4208 and 4210 may also be moved to different motion vectors to simulate the pivoting of the virtual rail 4209. [ As shown in FIG. 42B, the virtual rail 4209 can pivot about one of the tool bases, such as the first robot arm tool base 4208. In this case, the motion vector of the second robot arm tool base 4210 may be substantially larger than the motion vector of the first robot arm tool base 4210, which is the minimum. The first robotic arm tool base 4208 may alternatively be pivotable about the second robotic arm tool base 4210. [

42C, the virtual rail 4209 can pivot about a pivot point 4213 on the virtual rail line between the first and second robot arm tool bases 4208 and 4210. [ In this case, the sizes of the two robot arm tool bases 4208 and 4210 may be similar but opposite in direction.

42D, the virtual rail 4209 can pivot about the pivot point 4215 on the virtual rail line beyond the first and second robotic arm tool bases 4208 and 4210. [ In such a case, the motion vector of the second robot arm tool base 4210 may be substantially larger than the motion vector of the first robot arm tool base 4208. 42D, the pivot point 4215 lies on the virtual rail line of the "left" side of the first robotic arm tool base 4208. [ Alternatively, the pivot point 4215 may rest on the "right" virtual rail of the second robotic arm tool base 4208. [

Figures 42b to 42d illustrate the pivoting of the virtual rail in an anticlockwise direction and at an angle of about 30 degrees, but such pivoting directions and angles are shown by way of example only. The virtual rail can be turned clockwise at any angle between 0 and 360 degrees.

Admittance / Impedance mode.

In the operating room where doctors and assistants perform the surgical tasks, the assistant usually holds a device for the doctor. This device (eg camera or unwind) can not be fixed with a fixed fixture because it must change its position periodically. Using robots can reduce the need for assistants, but controlling many robots with a joystick or toggle button is not intuitive. Likewise, due to the inconvenience of the control interface to the robot, it is slow to install the robot system in part for each new patient. The present invention provides a system, apparatus and method in which sensors, gesture recognition and admittance / impedance control are used to create an intuitive and easy human-robot interaction mode.

The present invention provides sensing and control of robots that take natural human input, such as tapping, pushing or pulling, in the arm to command an expected action. For example, double-tapping an "elbow" of a cancer (eg, a joint of a robot arm) can mean moving only the elbow while maintaining the "wrist". In another example, if a "forearm" (eg, a link of a robotic arm) is rigidly secured and a "wrist" (eg, a tool base, interface end or device operator of a robotic arm) The arm position may mean rotating only the "wrist" while maintaining it. In the third example, if the "wrist" is pushed by itself, it may mean that the entire arm follows the new position of the "wrist". The robot senses the position and method of applying touch input to the arm and activates the admittance mode, which is a control method in which the robot takes a forced input as a motion command by using these inputs (tap, double tap, tug, vibration, Thereby accomplishing this. The behavior of the admittance mode, such as which joints can be operated or the virtual limit of motion, is specified by the type of input given.

The use of natural inputs can be extended to anything other than manipulating the virtual rail. In one embodiment, if the arm is in the tilting mode, a strong pull in the approximate direction may toggle the admittance mode and retract the rail along a straight line passing through the tilting point. In another embodiment, if there is no tool on the end effector, the large downward force applied by the physician may be set to the loading sequence for storing the robotic arm. In another embodiment, the system may request confirmation before accepting the cancer.

In some embodiments, the admittance mode can typically be deactivated. The present disclosure provides precise control of the robotic arm and can compensate for unintended external disturbances. Given a touch gesture or input, the algorithm understands the user's intent and makes the admittance mode consistent with the intended behavior. This can replace other modes that toggle the admittance mode. Once the external force is removed, the algorithm does not sense the input and gradually deactivates the admittance mode momentarily (by virtue of the virtual damping and stiffness increase) after a given waiting time.

43 is a flow chart illustrating a method 4300 for manipulating the robot arm (s) of the robotic surgery system. Cancer of the robotic surgical system may be manipulated according to method 4300 before, during, or after surgery.

In step 4310, the admittance / impedance mode of the robotic surgery system may be activated. The admittance / impedance mode may be enabled by the user applying force (i.e., touching and contacting) the robot arm as described above. Alternatively, or in combination, the admittance / impedance mode may include, for example, a foot pedal in communication with the robotic arm, a joystick in communication with the robotic arm, a voice command, a detected light, or a computing device communicating with the robotic arm It can be activated by the received user command. In some embodiments, the initial position of the robotic arm can be stored. In some embodiments, the robot arm may be configured to store a plurality of locations determined by the user.

In step 4320, the robot arm may detect a force applied by the user to the robot arm, such as a touch, a grap, a tap, a push, a pull, The robotic arm may include one or more links and joints, and the robot arm may include a tactile sensor connected to the link, such as disposed on the outer surface of the link, or a torque sensor coupled to the joint. For example, the robotic arm may include a series of actuators held by a link therebetween, and may include seven actuators and a series chain arm, wherein the robotic arm senses and / Or tactile sensation along the robot arm. Alternatively or in combination, a force sensor may be connected to the interface end of the tool base, the device actuator, or the robotic arm.

In some embodiments, the tactile sensor and / or torque sensor may also record the physical interaction of the robot with the environment. For example, the sensor may capture the physician's inadvertent force (e.g., bumping) that can be analyzed to determine and define the physician and robot working space.

In step 4330, the user intent may be determined based on the detected force. For example, the robotic surgical system may determine whether the applied force is one or more of hold, push, pull, tap, multiple taps, rotation, or a shake of a portion or an entire robot arm. In some embodiments, the detected force may indicate toggling the on / off of the admittance mode.

The robot arm can be coupled to a controller that implements an algorithm that can calculate where external forces are generated. When using the tactile sensor, the activated sensor can directly indicate the position of the external force. For torque sensing at the joint, the algorithm can perform an estimate to calculate the position at which the input force can occur in the arm. The algorithm can read a given input type, such as whether the input is a slow push, quick tab, shake, or pool. The algorithm can use a case library to toggle the various admittance modes. The library can be pre-set or adaptively learned. In some embodiments, the robot arm may respond to voice or other commands in addition to or in addition to a touch command.

In step 4340, the robot arm may be moved based on the determined user intent. In some embodiments, the admittance / impedance mode can be activated based on the detected force, i. E., When the applied force matches the pattern to enable the admittance / impedance mode. The robot arm can also be moved in various patterns depending on the characteristics of the force acting on it. For example, the force applied to the robot arm may include one or more tabs on the joint of the robot arm, and the joint of the robot arm may be automatically moved while maintaining the position of one or more other joints or the interface end of the arm A point can be determined. In another example, the force applied to the robotic arm includes a pool on the interface end of the robotic arm, the position of the joint of the robotic arm is maintained, and the interface end of the robotic arm simply can be determined to rotate. In another example, the force applied to the robot arm includes pressing or pulling at the interface end of the robot arm, and the interface end of the robot arm can be automatically moved in response to pushing or pulling, It can be determined that the entire robot arm can be automatically moved.

In some embodiments, the operation of other portions of the robotic surgery system may change in response to a force or contact applied by the user. For example, if you tap twice on the robot base, the pump can operate. In one embodiment, a greater or abrupt force may set the robot to a "safe" state that is not commanded by an external force or a touch. In another embodiment, the "master / slave" or "mirroring" mode may command movement to the arm of the other side using force and torque readings from one arm of the surgical bed.

At step 4350, the admittance / impedance mode of the robotic surgery system may be deactivated. In some embodiments, the robot arm may return to the stored initial position. In some embodiments, the robot arm may be commanded to return to any of the preset locations that are prestored. The robotic arm may be indicated through one of the control schemes described herein. In some embodiments, the admittance / impedance mode of the robotic surgery system may not be deactivated until an operator command is performed after the move command.

Although the above steps illustrate a method 4300 of operating the robotic arm (s) of a robotic surgery system in accordance with many embodiments, those skilled in the art will recognize many variations based on the teachings described herein. The steps may be completed in a different order. Steps may be added or deleted. Some steps may include sub-steps. Many steps can be repeated as necessary or advantageously.

One or more steps of the method 4300 may be performed with the circuitry described herein using one or more of a processor or logic circuit, such as, for example, programmable array logic or a field programmable gate array. The circuitry may be a component of the control console or control computing unit described herein. For example, the circuit may be programmed to provide one or more steps of the method 4300, and the program may be stored in a computer readable memory or programmable array logic or programmed instructions stored in programmed steps of a logic circuit, such as a field programmable gate array Lt; / RTI >

In order to compare various embodiments, certain aspects and advantages of these embodiments are described. And not necessarily all such aspects or advantages may be achieved by any particular embodiment. Accordingly, various embodiments may be performed in a manner that accomplishes or optimizes the advantages as taught herein without necessarily achieving other aspects or advantages, for example, as taught or shown herein.

Elements or configurations shown with any embodiment of the disclosure are illustrative of specific embodiments and may be used in conjunction with or in combination with other embodiments disclosed herein. The invention is susceptible to various modifications and alternative forms, of which specific examples are shown in the drawings and are herein described in detail. However, the invention is not intended to be limited to the particular form or method disclosed, but on the contrary, includes all modifications, equivalents and substitutions.

Claims (81)

Providing a robot arm system including a first robot arm and a second robot arm having predetermined distances and orientations relative to one another;
Detecting a force applied to the first robot arm by the first robot arm;
Automatically moving the first robot arm with a first motion vector in response to the detected force; And
And automatically moving the second robot arm to a second motion vector in response to the detected force so that the predetermined distance and direction between the first robot arm and the second robot arm is maintained, How to Move Cancer System. The method according to claim 1,
Wherein the predetermined spacing distance and direction between the first robot arm and the second robot arm comprises a linear alignment between the first robot arm and the second robot arm. 3. The method according to any one of claims 1 to 2,
Wherein the linear alignment between the first robot arm and the second robot arm comprises a linear alignment between interface ends of the first robot arm and the second robot arm. 4. The method according to any one of claims 1 to 3,
Wherein the step of automatically moving the first robot arm comprises rotating the interface end of the first robot arm about a point on a line formed by the first robot arm and the second robot arm,
Wherein the step of automatically moving the second robot arm includes rotating the interface end of the second robot arm about a point on the line formed by the first robot arm and the second robot arm A method of moving a robot arm system. 5. The method according to any one of claims 1 to 4,
And a point on the line is between an interface end of the first robot arm and the interface end of the second robot arm. 6. The method according to any one of claims 1 to 5,
Wherein the point on the line is beyond an interface end of the first robot arm and the second robot arm. 7. The method according to any one of claims 1 to 6,
Wherein the step of automatically moving the second robot arm in response to the detected force such that the predetermined distance and direction between the first robot arm and the second robot arm is maintained comprises moving the first robot arm and the second robot arm And translating the robot arm together along at least one of an X-axis, a Y-axis, and a Z-axis. 8. The method according to any one of claims 1 to 7,
Wherein the first motion vector and the second motion vector are the same. 9. The method according to any one of claims 1 to 8,
Wherein the first motion vector and the second motion vector are different from each other. 10. The method according to any one of claims 1 to 9,
The robot arm system further includes a third robot arm,
Wherein the first robot arm, the second robot arm, and the third robot arm have a predetermined separation distance and direction with respect to each other. 11. The method according to any one of claims 1 to 10,
The third robot arm is automatically moved to the third movement vector in response to the detected force such that the predetermined distance and direction between the first robot arm, the second robot arm, and the third robot arm is maintained The method further comprising the step of: 12. The method according to any one of claims 1 to 11,
Wherein the predetermined spacing distance and direction between the first robot arm, the second robot arm, and the third robot arm includes a linear alignment between the first robot arm, the second robot arm, and the third robot arm And moving the robot arm to the robot arm. 13. The method according to any one of claims 1 to 12,
Wherein a linear alignment between the first robotic arm, the second robotic arm, and the third robotic arm includes a linear alignment between interface ends of the first robotic arm, the second robotic arm, and the third robotic arm Wherein the robot arm is moved in the direction of the robot arm. 14. The method according to any one of claims 1 to 13,
Wherein the step of automatically moving the first robot arm comprises rotating the interface end of the first robot arm relative to a point on the line formed by the first robot arm, the second robot arm and the third robot arm ≪ / RTI &
Wherein the step of automatically moving the second robot arm comprises rotating the interface end of the second robot arm with respect to a point on the line formed by the first robot arm, the second robot arm and the third robot arm Including,
The step of automatically moving the third robot arm may include rotating the interface end of the third robot arm with respect to a point on the line formed by the first robot arm, the second robot arm, and the third robot arm And moving the robot arm to move the robot arm. 15. The method according to any one of claims 1 to 14,
Wherein the point on the line is between two or more of the interface ends of the first robot arm, the second robot arm, and the third robot arm. 16. The method according to any one of claims 1 to 15,
Wherein the point on the line is located at least two of the interface ends of the first robot arm, the second robot arm, and the third robot arm. 17. The method according to any one of claims 1 to 16,
The step of automatically moving the third robot arm in response to a force detected so as to maintain the predetermined distance and direction between the first robot arm, the second robot arm, and the third robot arm, And translating at least one of the first robot arm, the second robot arm, and the third robot arm along at least one of an X-axis, a Y-axis, and a Z-axis. 18. The method according to any one of claims 1 to 17,
Wherein at least two of the first motion vector, the second motion vector, and the third motion vector are the same. 19. The method according to any one of claims 1 to 18,
Wherein at least two of the first motion vector, the second motion vector, and the third motion vector are different from each other. 20. The method according to any one of claims 1 to 19,
Wherein detecting the force applied to the first robotic arm by the first robotic arm comprises detecting a torque applied to the joint of the first robotic arm. 21. The method according to any one of claims 1 to 20,
Wherein the force applied to the first robot arm is detected during operation of the patient. 22. The method according to any one of claims 1 to 21,
And activating a movement mode of the robot arm system in response to the detected force. 23. The method according to any one of claims 1 to 22,
Wherein the moving mode of the robot arm system includes at least one of an admittance mode and an impedance mode. 24. The method according to any one of claims 1 to 23,
Further comprising deactivating a movement mode of the robotic arm system after the first robotic arm and the second robotic arm have moved. Providing a robot arm system including a first robot arm and a second robot arm having predetermined distances and predetermined directions with respect to each other;
Automatically moving the first robot arm with a first motion vector in response to the detected force; And
Wherein the predetermined direction between the first robot arm and the second robot arm is maintained and optionally the predetermined distance between the first robot arm and the second robot arm is maintained, And automatically moving the second robotic arm in response to a second motion vector. A first robot arm including a force sensor for detecting a force applied to the first robot arm;
A second robot arm having a predetermined separation distance and direction with respect to the first robot arm; And
And a second robot arm connected to the first robot arm and the second robot arm to automatically move the first robot arm with a first motion vector in response to the detected force, And a controller that automatically moves the second robot arm to a second motion vector such that the predetermined distance and direction between the second robot arms is maintained. 27. The method of claim 26,
Wherein said predetermined spacing distance and direction between said first robot arm and said second robot arm comprises a linear alignment between said first robot arm and said second robot arm. 28. The method according to any one of claims 26 to 27,
Wherein the linear alignment between the first and second robotic arms comprises a linear alignment between the interface ends of the first robotic arm and the second robotic arm. 29. The method according to any one of claims 26 to 28,
Wherein the controller rotates the interface ends of the first robot arm and the second robot arm with respect to a point on a line formed by the first robot arm and the second robot arm. 30. The method according to any one of claims 26 to 29,
And a point on the line is between the interface ends of the first robot arm and the second robot arm. 31. The method according to any one of claims 26 to 30,
And a point on the line is beyond an interface end of the first robotic arm and the second robotic arm. 32. The method according to any one of claims 26 to 31,
Wherein the controller translates the first robotic arm and the second robotic arm together along at least one of an X-axis, a Y-axis, and a Z-axis. 33. The method according to any one of claims 26 to 32,
Wherein the first motion vector and the second motion vector are the same. 34. The method according to any one of claims 26 to 33,
Wherein the first motion vector and the second motion vector are different from each other. 35. The method according to any one of claims 26 to 34,
The robot arm system further includes a third robot arm,
Wherein the first robot arm, the second robot arm, and the third robot arm have a predetermined separation distance and direction with respect to each other. 36. The method according to any one of claims 26 to 35,
Wherein the controller is configured to move the third robot arm with a third motion vector in response to the detected force so that the predetermined distance and direction between the first robot arm, the second robot arm, And automatically moves the robot arm. 37. The method according to any one of claims 26 to 36,
Wherein the predetermined spacing distance and direction between the first robot arm, the second robot arm, and the third robot arm includes a linear alignment between the first robot arm, the second robot arm, and the third robot arm The robot arm system comprising: 37. The method according to any one of claims 26 to 37,
Wherein the linear alignment between the first robot arm, the second robot arm and the third robot arm comprises a linear alignment between the interface ends of the first robot arm, the second robot arm and the third robot arm A robot arm system characterized by. 39. The method according to any one of claims 26 to 38,
Wherein said controller rotates the interface ends of said first robot arm, said second robot arm and said third robot arm with respect to a point on a line formed by said first robot arm, said second robot arm and said third robot arm The robot arm system comprising: 40. The method according to any one of claims 26 to 39,
And a point on the line is between two or more of the interface ends of the first robot arm, the second robot arm, and the third robot arm. 40. The method according to any one of claims 26 to 40,
Wherein the point on the line is located at least two of the interface ends of the first robotic arm, the second robotic arm, and the third robotic arm. 42. The method according to any one of claims 26 to 41,
Wherein the controller translates the first robotic arm, the second robotic arm, and the third robotic arm together along at least one of an X-axis, a Y-axis, and a Z-axis. 43. The method according to any one of claims 26 to 42,
Wherein at least two of the first motion vector, the second motion vector, and the third motion vector are the same. 44. The method according to any one of claims 26 to 43,
Wherein at least two of the first motion vector, the second motion vector, and the third motion vector are different from each other. 45. The method according to any one of claims 26 to 44,
Wherein the first robot arm comprises one or more joints and one or more links,
Wherein the force sensor of the first robotic arm comprises a torque sensor coupled to the one or more joints. The method according to any one of claims 26 to 45,
Wherein the first robot arm comprises one or more joints and one or more links,
Wherein the force sensor of the first robotic arm comprises a tactile sensor connected to the one or more links. The method according to any one of claims 26 to 46,
Wherein the controller activates a movement mode of the robot arm system in response to a detected force. 47. The method according to any one of claims 26 to 47,
Wherein the moving mode of the robot arm system includes at least one of an admittance mode and an impedance mode. 49. The method according to any one of claims 26 to 48,
Wherein the controller disables the moving mode of the robot arm system after the first robot arm and the second robot arm move. A first robot arm;
A second robot arm having a predetermined separation distance and direction with respect to the first robot arm; And
And a second robot arm connected to the first robot arm and the second robot arm to automatically move the first robot arm with a first motion vector in response to the detected force, Wherein the predetermined direction between the first robot arm and the second robot arm is maintained and the second robot arm is automatically moved to the second movement vector so that the predetermined distance between the first robot arm and the second robot arm is maintained. To the robot arm system. 50. A method comprising providing a robotic arm system according to any one of claims 26 to 50. Detecting a force applied to the robot arm, the force vector including a force vector and a timing characteristic;
Determining a user intention based on a force vector and a timing characteristic of the detected force; And
And automatically moving the robot arm in response to the determined user intention. 53. The method of claim 52,
Wherein detecting the force applied to the robot arm comprises detecting whether a force is applied to the joint, link or interface end of the robot arm. 53. The method according to any one of claims 52-53,
Wherein detecting the force applied to the robot arm comprises detecting at least one of a force with a torque sensor connected to a joint of the robot arm and a force with a tactile sensor connected to a link of the robot arm Wherein the robot arm is moved in the direction of the robot arm. 58. The method according to any one of claims 52 to 54,
Wherein determining the user intent comprises determining that the applied force is at least one of a hold or a push, a pull, a tap, a plurality of taps, a rotation, and a shake of the portion or the entirety of the robot arm Wherein the robot arm is moved in the direction of the robot arm. 55. The method according to any one of claims 52 to 55,
Further comprising the step of activating a movement mode of the robot arm before automatically moving the robot arm. 58. The method according to any one of claims 52-56,
Further comprising the step of deactivating the moving mode of the robot arm after automatically moving the robot arm. 57. The method according to any one of claims 52 to 57,
Wherein activating the movement mode comprises receiving a command from a computing device communicating with a foot pedal in communication with the robot arm, a joystick in communication with the robot arm, a voice command, detected light, or the robot arm And moving the robot arm. 62. The method according to any one of claims 52 to 58,
Wherein the movement mode includes at least one of an impedance mode and an admittance mode. 60. The method according to any one of claims 52 to 59,
Wherein determining the user intent comprises determining whether a force applied to the robotic arm includes one or more taps in a joint of the robotic arm,
Wherein automatically moving the robot arm includes automatically moving a joint of the robot arm while maintaining the position of one or more other joints or interface ends of the robot arm in response to the one or more taps The robot arm moving method comprising: 60. The method according to any one of claims 52 to 60,
Wherein the step of determining user intent comprises determining whether a force applied to the robotic arm while maintaining the position of the joint of the robotic arm includes a pool for the interface end of the robotic arm,
Wherein the step of automatically moving the robot arm comprises rotating an interface end of the robot arm. 62. The method according to any one of claims 52 to 61,
Wherein the step of determining user intent comprises determining whether a force applied to the robotic arm includes a push or pull for the interface end of the robotic arm,
Wherein automatically moving the robot arm comprises automatically moving the interface end of the robot arm in response to a push or pull against the interface end and automatically moving the robot arm along the movement of the interface end, And moving the robot arm. 62. The method according to any one of claims 52 to 62,
Further comprising the step of storing an initial position of the robot arm before moving the robot arm. 63. The method according to any one of claims 52 to 63,
Further comprising moving the robot arm to the initial position after moving the robot arm in response to the determined user intention. Determining a user's intention based on a detected force applied to the robot arm; And
And automatically moving the robot arm in response to the determined user intention. A robot arm including a force sensor for detecting a force applied to the robot arm, including a force vector and a timing characteristic; And
A controller coupled to the robot arm for determining a user's intention based on a force vector and timing characteristic of the detected force and for automatically moving the robot arm in response to a determined user intention. 67. The method of claim 66,
Wherein the force sensor detects whether a force is applied to the joint, link or interface end of the robot arm. 67. A method according to any one of claims 66 to 67,
Wherein the force sensor comprises at least one of a torque sensor connected to a joint of the robot arm and a tactile sensor connected to a link of the robot arm. 69. The method according to any one of claims 66 to 68,
Wherein the controller determines the user intention by determining that the applied force is at least one of a hold, a push, a pull, a tap, a plurality of taps, a rotation, and a shake of part or all of the robot arm system. 71. A method according to any one of claims 66 to 69,
Wherein the controller activates the moving mode of the robot arm before automatically moving the robot arm. A method according to any one of claims 66 to 70,
Wherein the controller disables the moving mode of the robot arm after automatically moving the robot arm. 73. The method according to any one of claims 66 to 71,
Further comprising an external control unit in communication with the controller to activate the movement mode. 73. The method according to any one of claims 66 to 72,
Wherein the external control unit comprises at least one of a foot pedal, a joystick, a microphone, a photodetector, and a computing device. 73. The method according to any one of claims 66 to 73,
Wherein the movement mode includes at least one of an impedance mode and an admittance mode. 73. The method according to any one of claims 66 to 74,
Wherein the robot arm includes a joint, a link and an interface end. 76. The method according to any one of claims 66 to 75,
Wherein the controller determines a user intent by determining whether a force applied to the robot arm includes one or more tabs on the joint and maintains the position of one or more other joint or interface ends of the robotic arm in response to the one or more taps Wherein the robot arm is automatically moved by automatically moving the joint of the robot arm. 77. The method according to any one of claims 66 to 76,
Wherein the controller determines a user intention by determining whether a force applied to the robot arm includes a pool with respect to the interface end of the robot arm, and wherein the position of the joint of the robot arm is determined by the interface of the robot arm And the robot arm is automatically moved by rotating the end portion of the robot arm. 77. The method according to any one of claims 66 to 77,
Wherein the controller determines a user intent by determining whether a force applied to the robot arm includes a push or pull for the interface end of the robotic arm, And the robot arm is automatically moved by automatically moving the entire robot arm along the movement of the interface end portion. 79. The method according to any one of claims 66 to 78,
Wherein the controller stores the initial position of the robot arm before moving the robot arm. 80. The method according to any one of claims 66 to 79,
Wherein the controller moves the robot arm back to the initial position after moving the robot arm in response to a determined user intention. 80. A method, comprising the step of providing the robotic arm system according to any one of claims 66 to 80.

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